A Stereo Self-adjustment Methodology for Resuming Active Camera Operation

Authors:
Masafumi Nakagawa;Yoshihiro Kawai;Fumiaki Tomita
Affiliations:
National Institute of Advanced Industrial Science and Technology, Japan;National Institute of Advanced Industrial Science and Technology, Japan;National Institute of Advanced Industrial Science and Technology, Japan
Venue:
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Year:
2009

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Abstract

A stereo system for vehicles, Unmanned Aerial Vehicles (UAVs), and hand eye systems must tolerate vibration of its cameras and be robust against disturbances. We propose a stereo self-adjustment methodology for resuming autonomous stereo system operations. The methodology aims to achieve autonomous recovery of camera directions, even if the cameras rotate after a weak impact. In autonomous recovery, the self-adjustment procedure calculates the rotation values of rotated cameras. The camera directions of the stereo system then recover their initial directions using the rotation parameters. Moreover, we have verified the validity of our approach through experiments using an active stereo camera in which three cameras can rotate independently.