+ Consuming electric power can be achieved by simple structure. 
Figure 1 shows the artificial retina camera (X-7300C) Figure 2 
shows the system illustration of the artificial retina camera 
3 EXPERIMENT 
In order to estimate accuracy of the artificial retina camera, 
experiments were performed using the artificial retina camera 
(X-7300C) and the CCD Camera (XC-75). Tablel shows the 
major components for these cameras and Figure 3 shows the three 
test models (Z=20mm, 50mm and 100mm) which were used in 
this paper. Figure 4 shows the control points and check points. 
The squared points are control points and another 33 black circle 
points are check points for checking accuracy. Stereo images for 
each test model were taken by each camera and Table 2 shows the 
altitude, base line and base-height ratios for experiments. 
The differences of an altitude were caused by lens type, i.e. wide 
angle lens was equipped with the artificial retina camera, and 
standard lens was equipped with the CCD camera. Camera 
calibrations were performed by the bundle adjustment using 9 
control points and an image coordinate for each point was given 
as a center of area gravity. 
Z=2cm,5cm,10cm 
3(- 
X 
¥ 
fp' 
Bit 
• • 
• • 
4cm 
4cm 7cm 4cm 7cm 
Figure 4 Control points and check points 
Table 1 Major components for two cameras 
Artificial retina camera 
CCD camera 
Image sensor 
CMOS( 1/4 inch) 
CCD(l/2 inch) 
Resolution 
128*128(pixel) 
512x512(pixel) 
focal length 
2.0mm 
16mm 
cell size 
24x2411 m 
84x9.8 Um 
external size 
W85mm H40mm D44mm 
W44mm H29mm D91.5 mm 
Table 2 Altitude, base line and base-height ratios 
Z of test 
model! mm) 
//(mm) 
B (mm) 
B/H 
Artificial retina camera 
20 
350 
117 
0.334 
50 
335 
117 
0.349 
100 
441 
150 
0.340 
CCD camera 
20 
1815 
205 
0.113 
50 
1810 
240 
0.133 
100 
1807 
226 
0.125 
4 EXPERIMENTAL RESULTS 
Table 3, 4 shows the R.M.S.E. for check points and the 
theoretical accuracy which were calculated following equation. 
a. = 
(if' 
cr 
1/, 
p 
H ) 
r/n 
f) 
UJ 
(1) 
where, H, altitude of camera, B/H, base-height ratio, 
/; focal length a p \ pointing accuracy 
Table 3 RMSE of the artificial retina camera 
Z of test model(mm) 
2f,T(mm) 
Z (mm) 
20 
±0.522 
±2.318 
50 
±0.819 
±2.507 
100 
±0.475 
±2.031 
Theoretical accuracy 
±0.8 
±2.6 
Table 4 RMSE of the CCD camera 
Z of test model(mm) 
X,Y( mm) 
Z (mm) 
20 
±0.126 
±0.898 
50 
±0.089 
±0.809 
100 
±0.105 
±0.882 
Theoretical accuracy 
±0.2 
±1.8 
P2-2-2