ZED and ZED Mini Depth Estimation Evaluation

This repository is a MATLAB implementation as part of the the Master Thesis Project: Sparse Stereo Visual Odometry with Local Non-Linear Least-Squares Optimization for Navigation of Autonomous Vehicles to evaluate depth estimation of ZED and ZED Mini stereo cameras for measurement purposes.

Tha code has been written and tested on MATLAB 2019a and depends on the following toolboxes:

• Computer Vision Toolbox
• Image Processing Toolbox

The software was tested on a laptop Intel(R) Core(TM) i7-6500U CPU @ 2.50GHz 2.60 GHz and 12 GB RAM

Installation

1. Clone the repository using the following command

git clone https://github.com/FabianAC07/ZED-and-ZED-Mini-Depth-Estimation-Evaluation.git

2. Make sure that the Data folder contains the following subfolders:

"Data"
  |--"Indoor"
  |  |--"ZED"
  |  |  |--"720"
  |  |  |  |--"Left"
  |  |  |  |--"Right"
  |  |  |--"1080"
  |  |     |--"Left"
  |  |     |--"Right"
  |  |--"ZED-M"
  |  |  |--"720"
  |  |  |  |--"Left"
  |  |  |  |--"Right"
  |  |  |--"1080"
  |  |     |--"Left"
  |  |     |--"Right"
  |--"Outdoor"
  |  |--"ZED"
  |  |  |--"720"
  |  |  |  |--"Left"
  |  |  |  |--"Right"
  |  |  |--"1080"
  |  |     |--"Left"
  |  |     |--"Right"
  |  |--"ZED-M"
  |  |  |--"720"
  |  |  |  |--"Left"
  |  |  |  |--"Right"
  |  |  |--"1080"
  |  |     |--"Left"
  |  |     |--"Right"
  |--"ZED Calibration Files"

Data Description

The data is organized based on the directory structure shown above, which means:

• Data is organized in Indoor and Outdoor environments
• Data is split into ZED and ZED Mini image captures
• Images were taken in "Full High Definition" (FHD or 1080 x 1920 p) and "High Definition" (FHD or 720 x 1280 p)
• Images are stored in Left and Right folders accordingly to their respective lens
• Images were captured in raw format (lens distortion included) and rectified from ZED SDK

The calibration files are organized as follows:

• Custom_Calibration_ZED_Mini_SN10027514_FHD_1080.mat: ZED Mini calibration file @ FHD
• Custom_Calibration_ZED_Mini_SN10027514_HD_720.mat: ZED Mini calibration file @ HD
• Custom_Calibration_ZED_SN21531_FHD_1080.mat: ZED calibration file @ FHD
• Custom_Calibration_ZED_SN21531_HD_720.mat: ZED calibration file @ HD
• ZED_Calibration_File.m: ZED and ZED Mini Camera Parameters provided by StereoLabs

Note: Custom_Calibration_* files were obtained using the "Stereo Camera Calibrator App" included in MATLAB "Computer Vision Toolbox".

Usage

1. Open the file main.m from scr folder and run it.

2. A pop up window will request user inputs:

3. The software will calculate the depth based on the input parameters

4. The results will be shown in image format

Further Reading

For details on the implemenation and use of this software please refer to chapters 1 to 4 from the M.A.Sc. Thesis "Sparse Stereo Visual Odometry with Local Non-Linear Least-Squares Optimization for Navigation of Autonomous Vehicles"

License

This software is under GNU General Public License v3.0 License.

If you use this software in an academic work, please cite:

E. F. Aguilar Calzadillas, "Sparse Stereo Visual Odometry with Local Non-Linear Least-Squares Optimization for Navigation of Autonomous Vehicles", M.A.Sc. Thesis, Depart. of Mech. and Aero. Eng., Carleton University, Ottawa ON, Canada, 2019.