Measurement principles

The rc_visard is a self-registering 3D camera. It provides rectified camera, disparity, confidence, and error images, which enable the viewed scene’s depth values along with their uncertainties to be computed. Furthermore, the motion of visual features in the images is combined with acceleration and turn-rate measurements at a high rate, which enables the sensor to provide real-time estimates of its current pose, velocity, and acceleration.

In the following, the underlying measurement principles are explained in more detail.

• Stereo vision
• Sensor dynamics