Static stereo vision depth distortions in teleoperationA major problem in high-precision teleoperation is the high-resolution presentation of depth information. Stereo television has so far proved to be only a partial solution, due to an inherent trade-off among depth resolution, depth distortion and the alignment of the stereo image pair. Converged cameras can guarantee image alignment but suffer significant depth distortion when configured for high depth resolution. Moving the stereo camera rig to scan the work space further distorts depth. The 'dynamic' (camera-motion induced) depth distortion problem was solved by Diner and Von Sydow (1987), who have quantified the 'static' (camera-configuration induced) depth distortion. In this paper, a stereo image presentation technique which yields aligned images, high depth resolution and low depth distortion is demonstrated, thus solving the trade-off problem.
Document ID
19890025230
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Diner, D. B. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Von Sydow, M. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)