Table 1 Bumblebee2 depth resolution in mm as a function of camera resolution and Z in mm, the distance to the camera. The stereo camera has a focal length of 6.3 mm, a pixel size of 7.6e-3 mm, and a baseline of 120 mm
From: Low-power depth-based descending stair detection for smart assistive devices
Z | 512 ×384 | 320 ×240 | 160 ×120 | 102 ×76 |
|---|---|---|---|---|
760 | 5.94 | 9.49 | 18.99 | 29.79 |
780 | 6.25 | 10.00 | 20.00 | 31.38 |
800 | 6.58 | 10.52 | 21.04 | 33.01 |
820 | 6.91 | 11.05 | 22.11 | 34.68 |