Title page for ETD etd-07252012-081926


Type of Document Master's Thesis
Author Fanto, Peter Louis
URN etd-07252012-081926
Title Automatic Positioning and Design of a Variable Baseline Stereo Boom
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Kochersberger, Kevin Bruce Committee Chair
Abbott, A. Lynn Committee Member
Golparvar-Fard, Mani Committee Member
Roach, John W. Committee Member
Keywords
  • Unmanned Systems
  • Variable Baseline
  • Stereo boom
  • Automatic Positioning
Date of Defense 2012-07-17
Availability unrestricted
Abstract
Conventional stereo vision systems rely on two spatially fixed cameras to gather depth

information about a scene. The cameras typically have a fixed distance between them,

known as the baseline. As the baseline increases, the estimated 3D information becomes

more accurate, which makes it advantageous to have as large a baseline as possible. However,

large baselines have problems whenever objects approach the cameras. The objects begin

to leave the field of view of the cameras, making it impossible to determine where they are

located in 3D space. This becomes especially important if an object of interest must be

actuated upon and is approached by a vehicle.

In an attempt to overcome this limitation, this thesis introduces a variable baseline

stereo system that can adjust its baseline automatically based on the location of an object

of interest. This allows accurate depth information to be gathered when an object is both

near and far. The system was designed to operate under, and automatically move to a large

range of different baselines.

This thesis presents the mechanical design of the stereo boom. This is followed by a

derivation of a control scheme that adjusts the baseline based on an estimate object location,

which is gathered from stereo vision. This algorithm ensures that a certain incident angle on

an object of interest is never surpassed. This maximum angle is determined by where a stereo

correspondence algorithm, Semi-Global Block Matching, fails to create full reconstructions.

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