Systematic Study of Binocular Depth Finding Using Two Web Cameras

A stereovision sensor system for depth measurement has been developed in our department. Stereo cameras attached to a robot can perform several tasks effectively, such as calculating distance of an object or that of a person by using depth map, which can further lead to achieve a bigger goal of grasping or manipulation of objects. We have calibrated the cameras and applied rectification algorithm to the images to develop the stereo pair. While taking the data we have observed that due to divergence of cameras, the calculated distances were larger than the actual distances. We concluded that a further improved system can be developed which can take care of this systematic error and achieve more accurate results.