Fig. 2
From: ROS-based ground stereo vision detection: implementation and experiments
Algorithm workflow of the ground stereo vision guidance and localization system. Stereo vision guidance system mainly consists of image capture, aircraft detection and tracking, and localization. Detection algorithm transfers the captured images into a pair of pixel points standing for the extracted object positions (x l , y l ) and (x r , y r ). Localization algorithm generates the spatial coordinates by fusing the calibration data, a pair of detected pixel points and the feedback angles of pan–tilt units