Stereo kamera sisteminde aykırılık haritaları yardımıyla nesne uzaklıklarının tespit edilmesi

Abstract

In this study, it is intended to detect various objects’ depths consequently distances from parallel camera plane with stereo camera system. In the established test setup, there are two fixed cameras for capturing left and right image and a computer for processing the images. After cameras were placed fixedly, they were calibrated with chessboard. Subsequently calibration; the intrinsic parameters, essential and fundamental matrices, rotation and translation matrices between left and right cameras were occurred. Then rectification process performed to the images which captured from left and right cameras. Accordingly, depth map and knowledge of distance has been obtained. It is possible to use the depth knowledge process in many fields involved robot and vehicle distance detect systems to handicapped distance determination.