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Exploring 3D Imaging Techniques for Enhanced Computer Vision in Mars Exploration

This presentation by Kevin Schaefer, part of the Senior Honors at McKendree University, delves into using stereoscopic imaging techniques to create three-dimensional scenes. It focuses on the correlation problem inherent in stereo vision, utilizing methods like Sum of Absolute Differences for disparity calculation. These techniques are crucial for applications like the Mars Curiosity Rover, enhancing our understanding of distances to objects based on visual data. The goal is to improve image interpretation, facilitating better navigation and exploration.

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Exploring 3D Imaging Techniques for Enhanced Computer Vision in Mars Exploration

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  1. 238,854 Miles

  2. Moon Earth

  3. 225,000,000 Miles

  4. Moon Mars Earth

  5. Computer Vision Using Stereoscopic Imaging Techniques to Produce a Three-Dimensional Scene Kevin Schaefer Senior Honors Presentation McKendree University 4/24/2014

  6. The goal: 3D

  7. What’s in an image? 3 components: Red 121 Green 110 Blue 90

  8. Stereo vision Left viewpoint Right viewpoint

  9. The Correlation Problem

  10. Correlation algorithms • Sum of Absolute Differences • One of the simplest methods of block searching in images • Assuming normalized images:

  11. Disparity Roof Right viewpoint Left viewpoint Tree branch

  12. Calculating Distance to Objects • Distance to an object is inversely proportional to the disparity of that object Roof (farther away) Right viewpoint Left viewpoint Tree branch (closer)

  13. Applications Mars Curiosity Rover Spirit & Opportunity

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