Page 152 - Introduction to Autonomous Mobile Robots
P. 152
Perception
a1 a2 137
b1 b2
c d
Figure 4.24
Extracting depth information from a stereo image. (a1 and a2) Left and right image. (b1 and b2) Ver-
tical edge filtered left and right image: filter = [1 2 4 -2 -10 -2 4 2 1]. (c) Confidence image:
bright = high confidence (good texture); dark = low confidence (no texture). (d) Depth image (dispar-
ity): bright = close; dark = far.
