The Color Lo-Res StereoCam system is for range-finding and 3-D object detection and recognition where color is as important as ranging accuracy and where all robot PC resources can be applied to vision processing. It integrates the Bumblebee™ camera and Point Grey's Triclops™ with an appropriate Firewire card for various MobileRobots robots, added cabling and a choice of mounts. This system uses the robot or other external PC to run its software (see MobileRanger Stereovision System for indoor and outdoor cameras with high-speed onboard processing of high-resolutions monochrome images).

STEREOCAM HARDWARE
Bumblebee™ is Point Grey's new two lens stereo vision camera system. It provides a balance between 3D data quality, processing speed, size and price. The camera is ideal for applications such as people tracking, gesture recognition, mobile robotics and other computer vision applications.

STEREO SOFTWARE
The Triclops™ Software Development Kit (SDK), provides real-time range images using stereo vision technology. It allows users to measure the distance to every valid pixel in an image. The SDK implements an MMX optimized version of the Sum of Absolute Difference Correlation algorithm providing the user with accurate and fast depth map generation.

ROBOT INTEGRATION
StereoCam hardware is mounted and cabled to an included Firewire (IEEE 1394) card compatible with the required computer embedded in the MobileRobots robot. This makes a single image accessible for analysis by non-stereo vision software. Cards will vary with the robot chosen.

MOUNT OPTIONS
The Color Digital StereoVision System for MobileRobots platforms is available with either a manual tilt mount for fixed use or a pan-tilt mount , controllable through ARIA.

KEY FEATURES Two progressive scan CCDs High speed IEEE 1394 digital communication Accurate calibration Inter-camera synchronization Pan-tilt controllable from ARIA	COMPONENTS Bumblebee StereoCam with Linux or Win drivers  Fixed or Pan-Tilt Mount  Firewire card (varies with robot)  Cabling 5V power Triclops software
LO-RES COLOR STEREOVISION SYSTEM SPECIFICATION Cameras Imaging Device 1/3 " progressive scan CCDs Color 1024x768 Option: two Sony® ICX204 Color CCDs HAD image sensor with square pixels Supported Frame Rates 1024x768 square pixels at 7.5 FPS (enquire about details) Supported formats Color sensor: 8-bit Bayer tiled image (color space conversion done on the host computer) Signal to noise ratio TBD Connector One IEEE-1394 6-pin connector Power  Through IEEE-1394, consumption at 2.1W Gain Auto/Manual (0-34dB, 0.035dB resolution) Shutter Auto/Manual (1/16,000 to 1/30 second @ 30 Hz)  Please enquire about longer shutter speeds. Lens focal length  High quality 4mm focal length prefocused micro lenses, approximately 70° HFOV Baseline  12 cm Synchronization Less than 20 µs Size 16x4x4cm Pan-Tilt Mount Maximum Rated Payload:  over 4 lbs Maximum Speed: over 300 degrees/second Acceleration/Deceleration: Trapezoidal, on-the-fly speed and position changes Resolution: 3.086 arc minutes Tilt Range (approx): minimum 31 degrees up and 47 degrees down (78 degree range) with option of 80 degrees down (111 degree range)  Pan Range (approx): +-159 degrees (318 degree range) with option of +-180 degrees (360 degree range Triclops™ Software Easy to Use Easy to use and integrate with the Digiclops® camera. A standard  C/C++ interface allows for easy integration with existing systems. Full field-of-view Provides a full field-of-view of measurements. Every pixel in the image is assigned a distance measurement. Fast At a 320x240 resolution, the SDK produces ~10 frames/second (using 1.6GHz COBRA). Continuous Sensing: Capable of providing range measurements on a continuous basis. The software can produce over 1,000,000 range measurements per second. Dynamically Linked Library The SDK is provided in the form of a dynamically linked library (DLL). DLL's facilitate smaller executables and upgrades without recompilation. MMX Optimized Uses the MMX instruction set in a Pentium® Processor to optimize the speed performance without sacrificing the quality. Rectifies Images Images are rectified to remove lens distortions and misalignments to within 0.05 pixels.