Pseudo Stereovision System (PSVS): A Monocular Mirror-based Stereovision System

Abstract

A system for stereovision based on mirrors and a beam-splitter, was presented. PSVS, as it is called, is a low cost system with well-located features (accuracy, stability, compact construction). Equations and relations, concerning its construction and calculation of points coordinates in 3D space, taking into consideration refraction phenomena due to beamsplitter, were derived. Keeping always in mind the low construction cost and the possibility to easy constructed and used by anyone, new methods were introduced. These methods concern the correspondence algorithm used complex images separation and stereoscopic images reconstruction. Some problems during separation and reconstruction of images were explained. However, more research for this issue is required (i.e. integration of a spatial filter on a beam-splitter). The PSVS, as it is obvious from the experimental results can be successfully used for robotic applications. It was successfully used in different tasks, methods for robot path generation and stereo visual servo control. Moreover, it can be used to measure in space (to measure big distances) or in underwater applications. Our future plans include implementation of PSVS in more robotic applications, the development of a new PSVS calibration method, the improvement of complex images separation method. They also include the construction of different in size PSVS devices that could accurately measure ultra small distances in the micro world or distances in space.