Saturday, 23 October 2010

Stereo vision camera system

Here is a camera module for ITE. Two fast web cameras Philips 2050nc (up to 90 FPS @ 640x480, 6 FPS @ 1600x1200, 20 FPS @ 800x600), with very low-noise images is a good/cheap choice for computer vision. Both cameras are mounted on pitch aluminium plate connected to a geared stepper motor MP35EA (12V, 92mA, 4-Phase bipolar, gear ratio 1:85, torque = 0.4 kg*cm = 5.6 oz-in). The inter-lens distance is 0.12 m = 4.725 in) - picture on the left. Since the right camera is rotated by 180°, the software rotation of captured images is required. 
The test platform (right picture) can also perform rotation by the vertical axis (stepper motor, bipolar, 24V, 0.5A). Since there is no slip ring for USB cameras' data transfer, the expected yaw angle is ±230-270° (some experiments required), the horizontal rotation angle is -85°..+110° (0° - horizontal line).
All my control boards are designed for a closed loop control (feedback angle is measured by optical sensor and corrections applied after each motor step if required). The pitch rotation motor does not have a secondary shaft, so the feedback wheel will be mounted on a plate's output shaft and a sensor will be mounted from the side. Bottom motor has a secondary shaft, so encoder wheel is mounted thru the special shaft coupling (on picture below the wheel is not yet installed).

I will describe a sensor system in details in next posts, when demonstrating a camera movement control and a video capture. Below there is a mounting place for a sensor (optical interrupter TCST1103/1202).

I'm planning to publish here run tests of my application (OpenCV+Qt) for image capture and disparity map generation within 4 weeks.
Currently I'm busy on programming (upgrading) my parallel neural network application (also using GPU /w OpenCL). I will post results and an application here about it within two weeks.


  1. Hello. Yesterday i found one great new book on this subject - “Advances in Theory and Applications of Stereo Vision”. The book presents a wide range of innovative research ideas and current trends in stereo vision. The topics covered in this book encapsulate research trends from fundamental theoretical aspects of robust stereo correspondence estimation to the establishment of novel and robust algorithms as well as applications in a wide range of disciplines. Interesting theoretical trends presented in this book involve the exploitation of the evolutionary approach, wavelets and multiwavelet theories, Markov random fields and fuzzy sets in addressing the correspondence estimation problem. Novel algorithms utilizing inspiration from biological systems (such as the silicon retina imager and fish eye) and nature (through the exploitation of the refractive index of liquids) make this book an interesting compilation of current research ideas. Book is free to download or you can just read it on online reading platform like I do, all on samo link: Hope you will find it useful. See ya!

  2. Hello, Brian! Many thanks for your link. The book seems to contain the really useful articles.


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