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2 STEREO VISION SYSTEM 
2.1 Video Theodolite 
Figure 1 shows the motorized video theodolite (SOKKIA, MET2NV) used in 
construction of a stereo vision system. The video theodolite has two CCD cameras. 
CCDI, the upper one in the figure 1, is used for precise pointing to the target through 
the monitor, and CCD2, the upper one in the figure 1, is used as a finder. The lens of 
the CCD2 camera can zoom from 5.9 to 47.2 mm focal length. In order to take wide 
scene, the CCD2 camera was mainly used in this paper, and fitting a stereo adapter to 
the lens of the CCD2 camera of the video theodolite. 
The horizontal and vertical angles and the focal length of the CCD2 camera can be 
controlled by the personal computer via a RS232C port. At the same time, horizontal 
and vertical angles can be received by the personal computer. The current values of 
the rotation parameters and distance are continuously superimposed on image frames. 
  
  
2.2 Stereo Adapter 
Figure 2 shows the stereo adapter (3-D VIDEO a = Odd field: 
INC., Nu-View) used in this investigation. | 9 i ^ A. Right image 
Right and left image are taken as the odd field | | 
and even field on the same image by a liquid 
crystal shutter. The even lines on the odd field 
are interpolated using a just upper odd line 
respectively; similar the odd lines on the even 
field are interpolated in this paper. Figure 3 
shows an interpolation concept. Thus, stereo 
image can be acquired with one camera by Figure 2. Stereo Adapter 
fitting the stereo adapter to the lens of the 
CCD 2 camera. Figure 3. Interpolation concept 
  
2.3 System Configuration 
The stereo vision system consisting of the video theodolite, the stereo adapter, a personal computer, an image 
processing board, a TV monitor and a video recorder was constructed in this paper. 
Fitting the stereo adapter to the lens of the CCD2 camera of the video theodolite, the synchronized stereo image 
sequences for wide area can be acquired with one camera rotating the video theodolite. Rotation parameters of the 
CCD2 camera for each stereo image sequences are acquired in real-time as the angles of the video theodolite. 
Camera calibration can be performed with one control point since the rotation parameters and stereo image can be 
acquired simultaneously. Furthermore, 3D object position and textures for object are simultaneously taken. 
3D spatial data acquisition procedures, i.e. the acquisition of stereo images for the right and left image, extraction for 
the image coordinates of feature points, stereo matching, 3D measurement, panoramic imaging, wire frame model and 
texture mapping for 3D modeling are performed on the personal computer. Live image can be confirmed via the TV 
monitor. The current values of the rotation parameters are continuously superimposed on image frames and thus 
recorded as a part of the image data via the video recorder. 
The detail of the components of the stereo vision system is shown in Table 1. Figure 4 shows the configuration of the 
system. 
  
A 
T lit MET2NV ( Sokkia, accurac " | 
D 1 C 
CCD Camera |ccp.ccs(sony,si0H — 492V) | EVI-310 (Sony. 768H — 494V) 
f = 47.2 m 
  
TV Monitor 
r 
    
Monitor - n 
PC i 2 E 
Stereo Adapte Nu-View (3-D VIDEO INC. 
Table 1. System components 
Record 
   
     
Image 
Processing 
Board 
  
  
  
  
| Stereo Adapter 
Figure 4. System configuration 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 415