y stereo 
| texture 
ly slow 
  
  
  
  
  
Kakiuchi, Tsutomu 
6 CONCLUSIONS AND FURTHER WORK 
Camera calibration and acquisition of 3D spatial data using the stereo vision system have been investigated in this paper. 
Fitting the stereo adapter to the lens of the CCD 2 camem, stereo image can be obtained with one camera, and stereo 
image sequences for wide area also obtained rotating the video theodolite. Furthermore, 3D spatial data can be obtained 
simultaneously. And camera calibration for the stereo image can be performed with one control point since the rotation 
parameters and stereo image can be acquired simultaneously. 
The effectiveness of the stereo vision system not only human motion, auto-tracking and realtime positioning of a 
moving objects but also acquisition of 3D spatial data were demonstrated. There are issues, however, for further work. 
These problems are automatic modeling, texture mapping. And from the test, positioning errors can be found due to the 
short of baseline of the stereo adapter, but it is concluded that the stereo vision system is a useful tool in a small inner 
space. 
With this circumstance, a stereo vision system is expected to become a useful tool in various photogrammetric fields 
since the stereo image sequences and the camera rotation parameters can be acquired in real-time. 
ACKNOWLEDGMENTS 
Finally, this paper has been made as a part of investigation of Chikatsu laboratory in Tokyo Denki University. 
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