2000 Volume 62 Issue 1 Pages 89-99
A method is to obtain the color feature, position, and distance of an object in the common visual space of two cameras by judging clearness on composite images at the cross sections of distances on disparity. The mechanical accuracy on distance by the use of an experimental stereo vision system was within 2% at the distance of 1 to 4m. Variance of RGB and their average values of eight directions were used as a clearness indicator of composite images. These results were suitable for the both images of color and depth when the whole area of an object image was selected to compare clearness. An experiment was carried out using red apples in an orchard during harvest as an object for testing this method. The results showed a distance error of 4% or less, which proved that the method is useful for distance measurement of fruit.
