This paper presents a new stereoscopic camera system to acquire depth information from robot operating environments with obstacles, human bodies, and home facilities. The stereovision system is a quite useful tool with a low cost that can be used for intelligent robots in understanding their working environments. However, it cannot provide a precise result when the robot moves fast because of the delay in exposure times between two cameras. To overcome this problem, we designed a camera system with a single CCD sensor that uses a binocular optical system for stereovision. The depth information is calculated by analyzing two split images taken at the same time by one CCD. Two split images captured from a single CCD sensor are electrically synchronized and have the exactly same exposure time. Thus, there is no time difference between the two images and steady stereovision data can be acquired even when the robot is moving. Furthermore, it provides a simpler and faster way to acquire stereoscopic data than the method which uses two image sensors for a stereovision.
© 2013 Optical Society of AmericaPDF Article