Intelligent stereo camera mobile platform for indoor service robot research

摘要

Stereo vision is an active research topic in computer vision. Point Grey <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> Bumblebee <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment for their research projects. This paper describes the intelligent stereo camera mobile platform developed in our research using Pi and camera modules and presents the concept of using inexpensive open source parts for robotic stereo vision research work in details.