Stereo Camera

What is Stereo Camera?

Stereo Camera is a combination of camera and a depth sensor. It is used to capture the depth information of the scene. It allows you to run vision algorthms for object detection, tracking, and recognition in combination with accurate distance information. The stereo camera we use is a ZED camera from Stereolabs.

How does it work?

The ZED camera uses two sensors to capture the scene. The two sensors are placed at a distance from each other. The distance between the two sensors is called the baseline. The ZED camera uses the disparity between the two images to calculate the depth of the scene. The disparity is the difference between the two images. The disparity is inversely proportional to the depth of the scene. The ZED camera uses the disparity to calculate the depth of the scene.

Stereo Camera Pipeline

The stereo camera pipeline consists of the following steps:

1. Take in the information from the ZED sensor.

2. Using YOLOV5, detect the cones in the scene.

3. With the detected cones, calculate the depth of the cones.

4. Using the depth information, calculate the distance of the cones from the camera.

5. Transform the distance of the cones from the camera to the distance of the cones from the car.