Achievable Stereo Vision Depth Accuracy with Changing Camera Baseline

Abstract

This paper examines the effect on achievable depth accuracy of a stereo vision system as the baseline between the two camera sensors changes. This is critical for Unmanned Aerial Vehicle navigation or UAV aerial refueling, and for space debris clearance operations. The theory behind stereo image depth calculation is explained and then synthetic pixel data is manufactured in order to determine a 95% confidence interval on depth under two camera baseline conditions. A Gaussian pixel error is add to simulate Harris corner detection error. A disparity of the order of 10 pixels or less produces more than 1 cm difference between expected and actual depth for the stereo camera bases examined. For a 1-pixel disparity the difference is of the order of 50%. Future research is discussed.