Yıl 2016, Cilt 20, Sayı 2, Sayfalar 111 - 119 2016-08-01

Stereo kamera sisteminde aykırılık haritaları yardımıyla nesne uzaklıklarının tespit edilmesi
Object distance detection through disparity map in stereo camera system

Mücahit Soyaslan [1]

1277 1637

Bu çalışmada stereo kamera sistemi ile farklı cisimlerin derinliklerinin yani paralel kamera düzlemine uzaklıklarının tespit edilmesi amaçlanmıştır. Kurulan test düzeneğinde sağ ve sol görüntünün elde edilmesi için iki adet sabitlenmiş kamera ve bunlardan alınan görüntüleri işleyen bir adet bilgisayar bulunmaktadır. Kameralar sabit olarak yerleştirildikten sonra satranç tahtası yardımıyla kalibre edilmiştir. Kalibre işleminden sonra her iki kamera için esas ve temel matrisler, birinci ve ikinci kameralar arasında dönme ve öteleme matrisi bulunmuştur. Ardından sol ve sağ kameradan alınan iki adet görüntü üzerinde doğrultma işlemi gerçekleştirilmiştir. Buna bağlı olarak derinlik haritası ve uzaklık bilgisine ulaşılmıştır. Derinlik bilgisi bulma işleminin robot ve araçlardaki uzaklık algılama sistemlerinden engelliler için uzaklık tayinine kadar birçok alanda kullanılması mümkündür.

In this study, it is intended to detect various objects’ depths consequently distances from parallel camera plane with stereo camera system. In the established test setup, there are two fixed cameras for capturing left and right image and a computer for processing the images. After cameras were placed fixedly, they were calibrated with chessboard. Subsequently calibration; the intrinsic parameters, essential and fundamental matrices, rotation and translation matrices between left and right cameras were occurred. Then rectification process performed to the images which captured from left and right cameras. Accordingly, depth map and knowledge of distance has been obtained. It is possible to use the depth knowledge process in many fields involved robot and vehicle distance detect systems to handicapped distance determination.

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Konular Mühendislik
Dergi Bölümü Araştırma Makalesi
Yazarlar

Yazar: Mücahit Soyaslan

Bibtex @ { saufenbilder261121, journal = {Sakarya University Journal of Science}, issn = {1301-4048}, eissn = {2147-835X}, address = {Sakarya Üniversitesi}, year = {2016}, volume = {20}, pages = {111 - 119}, doi = {10.16984/saufenbilder.77095}, title = {Object distance detection through disparity map in stereo camera system}, key = {cite}, author = {Soyaslan, Mücahit} }
APA Soyaslan, M . (2016). Object distance detection through disparity map in stereo camera system. Sakarya University Journal of Science, 20 (2), 111-119. DOI: 10.16984/saufenbilder.77095
MLA Soyaslan, M . "Object distance detection through disparity map in stereo camera system". Sakarya University Journal of Science 20 (2016): 111-119 <http://www.saujs.sakarya.edu.tr/issue/24694/261121>
Chicago Soyaslan, M . "Object distance detection through disparity map in stereo camera system". Sakarya University Journal of Science 20 (2016): 111-119
RIS TY - JOUR T1 - Object distance detection through disparity map in stereo camera system AU - Mücahit Soyaslan Y1 - 2016 PY - 2016 N1 - doi: 10.16984/saufenbilder.77095 DO - 10.16984/saufenbilder.77095 T2 - Sakarya University Journal of Science JF - Journal JO - JOR SP - 111 EP - 119 VL - 20 IS - 2 SN - 1301-4048-2147-835X M3 - doi: 10.16984/saufenbilder.77095 UR - http://dx.doi.org/10.16984/saufenbilder.77095 Y2 - 2018 ER -
EndNote %0 Sakarya University Journal of Science Object distance detection through disparity map in stereo camera system %A Mücahit Soyaslan %T Object distance detection through disparity map in stereo camera system %D 2016 %J Sakarya University Journal of Science %P 1301-4048-2147-835X %V 20 %N 2 %R doi: 10.16984/saufenbilder.77095 %U 10.16984/saufenbilder.77095
ISNAD Soyaslan, Mücahit . "Stereo kamera sisteminde aykırılık haritaları yardımıyla nesne uzaklıklarının tespit edilmesi". Sakarya University Journal of Science 20 / 2 (Ağustos 2016): 111-119. http://dx.doi.org/10.16984/saufenbilder.77095