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Proceedings Paper

Digital ruler: real-time object tracking and dimension measurement using stereo cameras
Author(s): James Nash; Kalin Atanassov; Sergio Goma; Vikas Ramachandra; Hasib Siddiqui
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Paper Abstract

Stereo metrology involves obtaining spatial estimates of an object’s length or perimeter using the disparity between boundary points. True 3D scene information is required to extract length measurements of an object’s projection onto the 2D image plane. In stereo vision the disparity measurement is highly sensitive to object distance, baseline distance, calibration errors, and relative movement of the left and right demarcation points between successive frames. Therefore a tracking filter is necessary to reduce position error and improve the accuracy of the length measurement to a useful level. A Cartesian coordinate extended Kalman (EKF) filter is designed based on the canonical equations of stereo vision. This filter represents a simple reference design that has not seen much exposure in the literature. A second filter formulated in a modified sensor-disparity (DS) coordinate system is also presented and shown to exhibit lower errors during a simulated experiment.

Paper Details

Date Published: 19 February 2013
PDF: 7 pages
Proc. SPIE 8656, Real-Time Image and Video Processing 2013, 865606 (19 February 2013); doi: 10.1117/12.2008562
Show Author Affiliations
James Nash, Qualcomm Inc. (United States)
Kalin Atanassov, Qualcomm Inc. (United States)
Sergio Goma, Qualcomm Inc. (United States)
Vikas Ramachandra, Qualcomm Inc. (United States)
Hasib Siddiqui, Qualcomm Inc. (United States)


Published in SPIE Proceedings Vol. 8656:
Real-Time Image and Video Processing 2013
Nasser Kehtarnavaz; Matthias F. Carlsohn, Editor(s)

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