# Stereo Cameras - Calculation

Calculation

In this approach, two cameras with a known physical relationship (i.e. a common field of view the cameras can see, and how far apart their focal points sit in physical space) are correlated via software. By finding mappings of common pixel values, and calculating how far apart these common areas reside in pixel space, a rough depth map can be created. This is very similar to how the human brain uses stereoscopic information from the eyes to gain depth cue information, i.e. how far apart any given object in the scene is from the viewer.

The camera attributes must be known, focal length and distance apart etc., and a calibration done. Once this is completed the systems can be used to sense the distances of objects by triangulation. Finding the same singular physical point in the two left and right images is known as the correspondence problem. Correctly locating the point gives the computer the capability to calculate the distance that the robot or camera is from the object. On the BH2 Lunar Rover the cameras use five steps: a bayer array filter, photometric consistency dense matching algorithm, a Laplace of Gaussian (LoG) edge detection algorithm, a stereo matching algorithm and finally uniqueness constraint.

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### Famous quotes containing the word calculation:

Common sense is the measure of the possible; it is composed of experience and prevision; it is calculation appled to life.
Henri-Frédéric Amiel (1821–1881)

“To my thinking” boomed the Professor, begging the question as usual, “the greatest triumph of the human mind was the calculation of Neptune from the observed vagaries of the orbit of Uranus.”
“And yours,” said the P.B.
Samuel Beckett (1906–1989)