Inhalt

•  
   Abstract
•  
   Zusammenfassung
•  
   Contents
•  
   List of Figures
•  
   Nomenclature
•  
  1 Introduction
•  
  1.1 Artificial Compound Eye
•  
   1.1.1 General Artificial Compound Eye
•  
   1.1.2 Electronic Cluster Eye (eCley)
•  
  1.2 Motivation and Task
•  
   1.2.1 Motivation and Goal
•  
   1.2.2 Main Contributions
•  
   1.2.3 Organization of the Dissertation
•  
  2 Stereo Vision in the Artificial Compound Eye
•  
  2.1 Conventional Stereo Vision
•  
   2.1.1 3D Measurement from a Canonical Stereo Vision
•  
   2.1.2 Related Work in Stereo Vision
•  
   2.1.2.1 Local matching methods
•  
   2.1.2.2 Global matching methods
•  
   2.1.3 Analysis of Depth Resolution
•  
   2.2 Current Stereo Vision in an Artificial Compound Eye
•  
   2.3 Limitations of General Stereo Vision for eCley
•  
  3 Subpixel Stereo Vision Based on Variation of Intensities
•  
  3.1 Subpixel Resolution
•  
   3.1.1 Subpixel Stereo Matching
•  
   3.1.2 Subpixel Edge Detection
•  
   3.2 Stereo Vision Structure of Multilens Camera (eCley)
•  
   3.2.1 Stereo Properties of Adjacent Channels
•  
   3.2.2 Variation of Intensities Following Disparities in Boundaries of Objects
•  
   3.3 Overview of Implemented Methods
•  
  4 Correction and Calibration
•  
  4.1 Brightness Correction
•  
   4.1.1 Intensity Correction Using Maximum Value
•  
   4.1.2 Intensity Correction Using Voted Probability
•  
  4.2 Offsets Between Adjacent Channels
•  
   4.2.1 Channel Center Determination by Circle Fitting
•  
   4.2.2 Centers Determination by Straight Lines Fitting
•  
   4.3 Calibration and Rectification
•  
   4.3.1 Distortion of the Single Channel
•  
   4.3.2 Rectification of Two Stereo Channels
•  
  5 Determining Subpixel Baselines of Channel Pairs
•  
   5.1 Resolving the Ill-Posed Problem
•  
  5.2 Detection of Transitional Areas
•  
   5.2.1 Edge Detection by Intensity
•  
   5.2.2 Detection from Signal Gradient
•  
  5.3 Calibration of Subpixel Baselines
•  
   5.3.1 Subpixel Referred Position Based on Local Mean
•  
   5.3.2 Subpixel Edge Fitting
•  
   5.4 Experiments and Analysis
•  
   5.4.1 Experiments Using Synthetic Objects
•  
   5.4.2 Experiments Using Real Objects
•  
  6 Real-Time Subpixel Distance Measurement for Objects
•  
   6.1 Overview of the Approach
•  
   6.2 Image Preprocessing
•  
   6.3 Detecting Coarse Edges of Objects
•  
   6.3.1 Detection of boundaries of Objects
•  
   6.3.2 Decision of Transitional Areas
•  
   6.4 Distance Measurement at Subpixel Level
•  
   6.5 Experiments and Performance Analysis
•  
   6.5.1 Verifying Effectiveness and Precision of Algorithms
•  
   6.5.2 Tests Indoors and Outdoors
•  
  7 Conclusions and Further Work
•  
   7.1 Conclusions
•  
   7.2 Further Work
•  
   References