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Chen et al. Intell Robot 2023;3:420-35 https://dx.doi.org/10.20517/ir.2023.24 Page 424

Figure 3. Box size and stereo camera configuration.

Figure 4. Distance measurement by matching.

1. The number of objects in the two screens of the stereo camera is compared to determine
misidentification.

2. Matching is performed from left to right according to the object positions within the screens.

3. The system uses the frame of the recognized object in the left screen as the template image for matching
and calculates the similarity with the corresponding object in the right screen via the normalized difference
of squares.

4. By using parallax, the distance to each object is calculated.

5. The results are compared with the results from the previous frame. If there is a significant difference in
distance, the result is considered to be a recognition error and is ignored.