Stereo-vision System Applications

There are several initial considerations for a typical stereo-vision system, such as shown schematically in Fig. 4.3 or Fig. I.1. These include (a) anticipated object motion with corresponding (a-1) field of view on object, (a-2) system depth of field and (a-3) spatial resolution of camera; (b) surface lighting; (c) camera exposure time and (d) surface diffusivity.

Suppose the region of interest on the object is expected to move several millimetersto the right and then several millimeters towards one of the cameras during the loading process. If the stereo-vision system(s) are stationary, then the field of view for each camera must be arranged so that the final position of the object remains within the image for all cameras. Thus, both the depth of field and field of view for each camera-lens combination must be constructed to obtain a "focused imaging volume" that is appropriate for the situation. Assuming a fixed lens size, then the following are noted and shown schematically in Fig. 7.1.