Report Number: CS-TR-74-462
Institution: Stanford University, Department of Computer Science
Title: A fast, feature-driven stereo depth program.
Author: Pingle, Karl K.
Author: Thomas, Arthur J.
Date: May 1975
Abstract: In this paper we describe a fast, feature-driven program for
extracting depth information from stereoscopic sets of
digitized TV images. This is achieved by two means: in the
simplest case, by statistically correlating variable-sized
windows on the basis of visual texture, and in the more
complex case by pre-processing the images to extract
significant visual features such as corners, and then using
these features to control the correlation process.
The program runs on the PDP-10 but uses a PDP-11/45 and an
SPS-41 Signal Processing Computer as subsidiary processors.
The use of the two small, fast machines for the performance
of simple but often-repeated computations effects an increase
in speed sufficient to allow us to think of using this
program as a fast 3-dimensional segmentation method,
preparatory to more complex image processing. It is also
intended for use in visual feedback tasks involved in
hand-eye coordination and automated assembly. The current
program is able to calculate the three-dimensional positions
of 10 points to within 5 millimeters, using 5 seconds of
computation for extracting features, 1 second per image for
correlation, and 0.1 second for the depth calculation.