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Disparity compute methods in three - dimensional scene reconstruction for overhead travelling crane work space visualization

Szpytko J., Hyla P.

Journal of KONES

2012

Vol. 19, No. 3

421-428

The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the needs of the operating workspace identification, especially in the automation mode. However, this paper describes the problem of overhead travelling crane's workspace identification with the stereovision. Main authors’ attention was focused on the stereo pictures matching problem through optimization exist disparity computation methods with algorithms optimization by completion with implement correlation matching algorithms. The stereo system is based on the single camera localized under the crane trolley that allows obtaining the sequences of stereo snapshots of crane workspace during the crane or trolley movement. Typically, disparity was produce by calculating the displacement of each pixel of the stereo image along an epipolar line. The disparity software optimization was based on matching algorithms architecture. In this article, the disparity optimization procedure achieved by produce disparity on the ROI (Region of Interest) method is described. Disparity was obtained with the help of sets homologous pixels collections. These sets were determinate with variety kind of similarity measures, which was implemented to disparity search algorithm. Each disparity map (based on the separate similarity measure) was tested under outward appearance and computing time criteria.