dr inż. Adam Kaczmarek
This paper presents a method of improving the estimation of distances between an autonomous harvesting robot and plants with ripe fruits by using the vision system based on five cameras. The system is called Equal Baseline Multiple Camera Set (EBMCS). EBMCS has some features of a camera matrix and a camera array. EBMCS is regarded as a set of stereo cameras for estimating distances by obtaining disparity maps and depth maps. This...
Obtaining high-quality depth maps and disparity maps with the use of a stereo camera is a challenging task for some kinds of objects. The quality of these maps can be improved by taking advantage of a larger number of cameras. The research on the usage of a set of five cameras to obtain disparity maps is presented. The set consists of a central camera and four side cameras. An algorithm for making disparity maps called multiple...
Influence of Aggregating Window Size on Disparity Maps Obtained from Equal Baseline Multiple Camera Set (EBMCS)
This paper is concerned with obtaining disparity maps on the basis of images from Equal Baseline Multiple Camera Set (EBMCS). EBMCS consists of a central camera and side cameras. Algorithms for obtaining disparity maps with the use of EBMCS take advantage of aggregating windows similarly to stereo matching algorithms for a stereo camera, a camera matrix or a camera array. The paper analyzes the influence of aggregating window size...
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