History of Robotics Research and Development of Japan1997SensingDevelopment of a Video-Rate Stereo Machine

Takeo Kanade	Carnegie Mellon University
Hiroshi Kano	Sanyo Electric Co., Ltd.
Shigeru Kimura	Japan Defence Agency
Eiji Kawamura	CyVERSE Co., Ltd.
Atsushi Yoshida	Fuji Electric Co., Ltd.
Kazuo Oda	Asia Air Surrey Co., Ltd.

A video-rate stereo machine has been developed at Carnegie Mellon University with the capability of generating a dense range map, aligned with an intensity image, at the video rate. The target performance of the CMU video-rate stereo machine is: 1) multi image input of 6 cameras; 2) high throughput of 30 million point × disparity measurment per second ; 3) high frame rate of 30 [frame/sec]; 4) a dense depth map of 240 × 256; 5) disparity search range of up to 60 [pixel]; 6) high precision of up to 8 [bits] (with interpolation); 7) uncertainty estimation available for each pixel. The stereo machine is based on a multi-baseline stereo method. The three major ones are : 1) the use of small integers for image data representation : 2) the use of absolute values instead of squares in the SSD computation (SAD instead of SSD) ; and 3) camera geometry compensation capability for precise camera alignment. The stereo machine successfully generates disparity map of 200 × 200 with 23 steps of disparity search range in the video rate. 12th RSJ Best Paper Award in 1998

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