Stereo Vision

This is a guide for setting up and experimenting with stereo cameras in your projects.

This guide is incomplete and a work in progress; you can help by expanding it!

Contents

Choosing the Right Stereo Camera

In the realm of computer vision, selecting an appropriate stereo camera is fundamental. Considerations such as resolution, compatibility, and specific features like Image Signal Processing (ISP) support are paramount. For example, the Arducam Pivariety 18MP AR1820HS camera module offers high resolution and is compatible with Raspberry Pi models, featuring auto exposure, auto white balance, and lens shading that are crucial for capturing high-quality images under varying lighting conditions.

Implementation and Testing

Setting up and testing stereo cameras can vary based on the project's needs. For example, streaming from a USB stereo camera to a VR headset like the Quest Pro involves addressing challenges such as latency and the processing of hand tracking data. Utilizing resources like the TeleVision GitHub repository can be invaluable for developers aiming to stream camera feeds efficiently, crucial for applications requiring real-time data such as virtual reality or remote operation environments.

Application Scenarios

Stereo cameras are versatile and can be adapted for numerous applications. For instance, one setup might utilize long cables for full-room scale monitoring, another for 360-degree local vision, and a third for specific stereo vision tasks. These configurations cater to the unique requirements of each application, whether it’s monitoring large spaces or creating immersive user experiences.

Computational Considerations

When deploying stereo cameras, considering the computational load is crucial. Processing two raw images from stereo pairs might seem redundant, especially if the images are similar. Techniques like using CLIP-like models for encoding can reduce the need for processing both images in depth, as these models can intuit depth from high-level semantic content, thus conserving computational resources.

Exploring Depth Sensing Techniques

Depth sensing in stereo cameras can be achieved through various technologies. While some utilize stereo disparity, others may incorporate structured light sensors for depth detection. Understanding the underlying technology is essential for optimizing the setup and ensuring efficient processing, as seen in RealSense cameras, which combine structured light sensing with stereo disparity to provide robust depth information without significant additional computational demands.