Outdoor Characterization and Geometry-Aware Error Modelling of an RGB-D Stereo Camera for Safety-Related Obstacle Detection

Stereo cameras, also known as depth cameras or RGBD cameras, are increasingly employed in a large variety of machinery for obstacle detection purposes and navigation planning. This also represents an opportunity in agricultural machinery for safety purposes to detect the presence of workers on foot and avoid collisions. However, their outdoor performance at medium and long range under operational light conditions remains weakly quantified: authors then fit a field protocol and a model to characterize the pipeline of stereo cameras, taking the Intel RealSense D455 as benchmark, across various distances from 4 meters to 16 meters in realistic farm settings. Tests have been conducted using a 1 square meter planar target in outdoor environments, under diverse illumination conditions and with the panel being located at 0°, 10°, 20° and 35° from the center of the camera's field of view (FoV). Built-in presets were also adjusted during tests, to generate a total of 128 samples. Authors then fit disparity surfaces to predict and correct systematic bias as a function of distance and radial FoV position, allowing to compute mean depth and estimate a model of systematic error that takes depth bias as a function of distance, light conditions and FoV position. Results showed that the model can predict depth errors achieving a good degree of precision in every tested scenario (RMSE: 0.46 – 0.64 m, MAE: 0.40 – 0.51 m), enabling the possibility of replication and benchmarking on other sensors and field contexts while supporting safety-critical perception systems in agriculture.