Stereo Vision System Using Relative Stereo Disparity with Subpixel Resolution

For acquisition of 3-Dimensional information in real space, stereo vision system is suitable. In the stereo system, 3D real world position is derived from translation of coordinates between cameras and world. Thus, to use stereo vision, it is needed to construct a precise system which provides kinematically precise translation between camera and world coordinate, in spite of intricacy and hardness. So much cost and time should be spent to build the system. In this paper, facilely to solve previous problem, a method which can easily obtain 3D informations using reference objects and RSD(Relative Stereo Disparity) is proposed. Instead of direct computation of position with translation of coordinates, only relative stereo disparity in stereo pair of image is used to find the reference depth of objects, and real 3D position is computed with initial condition of reference objects. In computation, subpixel resolution is involved to find the display for accuracy. To find the RSD, corresponding points are calculated in subpixel resolution. So the result in experiemnt will be shown that subpixel resolution is more accurate than 1 pixel resolution.