High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of high-angular-resolution sensors requires a commensurately higher level of calibration accuracy and faster processing -- requirements often unmet by conventional methods. This study addresses that critical gap by processing 5MP camera imagery using a novel, advanced frame-to-frame calibration and stereo matching methodology designed to achieve both high accuracy and speed. Furthermore, we introduce a new approach to evaluate real-time performance by comparing real-time disparity maps with ground-truth disparity maps derived from more computationally intensive stereo matching algorithms. Crucially, the research demonstrates that high-pixel-count cameras yield high-quality point clouds only through the implementation of high-accuracy calibration.
@article{arxiv.2601.22445,
title = {High-Definition 5MP Stereo Vision Sensing for Robotics},
author = {Leaf Jiang and Matthew Holzel and Bernhard Kaplan and Hsiou-Yuan Liu and Sabyasachi Paul and Karen Rankin and Piotr Swierczynski},
journal= {arXiv preprint arXiv:2601.22445},
year = {2026}
}