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Selection of the best stereo pair in a multi-camera configuration

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3 Author(s)
Amat, J. ; Robotics Inst. IRI, CSIC, Barcelona, Spain ; Frigola, M. ; Casals, A.

The analysis of the error of stereo measurements by triangulation is revisited from three points of view: geometrical, statistical and visual quality. When the target is visible by a set of distributed cameras in the workspace, there are multiple combinations of camera pairs adequate to be considered for the location, by triangulation, of the target position. Three-camera placements are analysed evaluating their precision in a short-medium distance. The work presented analyses which combination of stereo measurements gives the best results, and proposes a method for the automatic selection of the most adequate cameras pair.

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Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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