Influence of Two Cameras Positioning to 3D Reconstruction

Abstract

For last few years plenty of attention is dedicated to 3D object recognition and 3D reconstruction. Not a few produced robots perceive ambience with assistance of two cameras, analyzing perceived views. In this paper we analyze two camera positioning task. We change the angle between two cameras (principal axes) and analyze the influence of camera positioning to first steps of 3D reconstruction algorithm. One of the ways of camera mounting is in parallel, when all perceived points lie on the same plane. Unfortunately, because of influence of internal and external factors we receive different errors in 3D reconstruction. The influence of these errors can be reduced by minimizing object distance to camera and changing the angle between two cameras. Changing the angle between two cameras we change the object viewpoint. In our approach we show that even if object makes fairly wide angle with camera plane (60°–80°), we can estimate to 20 % of suitable feature points with selected Harris and Stephens corner detector. Ill. 5, bibl. 11 (in Lithuanian; summaries in Lithuanian, English, Russian).