Subtraction stereo - a stereo camera system that focuses on moving regions

摘要

This study aims at developing a practical stereo camera that is suitable for applications such as surveillance, in which detection of anomalies or measurement of moving people are required. In such surveillance cases, targets to measure usually move. In this paper, "Subtraction stereo" is proposed that focuses on motion information to increase the robustness of the stereo matching. It realizes robust measurement of range images by detecting moving regions with each camera and then applying stereo matching for the detected moving regions. Measurement of three-dimensional position, height and width of a target object using the subtraction stereo is discussed. The basic algorithm is implemented on a commercially available stereo camera, and the effectiveness of the subtraction stereo is verified by several experiments using the stereo camera.