## 3 Experimental Results
The image resolution is 1920 \(\times\) 1080 pixels, the focal length is 1758.23 pixels, and the baseline is 97.99 mm. The maximum detection distance is 43.9 m, the separation distance is 10 cm, and the minimum reserved area is 25 cm\({}^{2}\). Figure 19b shows the detection result of the object edge contour. The object segmentation result is shown in Figure 19c. The background image is shown in Figure 19d. \begin{table}
\begin{tabular}{c c c c c c c c c c c c} \hline \multirow{2}{*}{**No.**} & **Object** & **Object** & **Object** & **Object** & **Overall** & **No.** & **Object** & **Object** & **Object** & **Object** & **Overall** \\  & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** & **Acc.** & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** \\ \hline \multirow{2}{*}{1} & & & & & 528 cm & & & & & & 324 cm & \\  & & & & 172 cm & & & & & & 192 cm & 0.925 & \\  & & & & 114 cm & & & & & & 141 cm & & \\ \hline \multirow{2}{*}{2} & & & & 442 cm & & & & & & & 470 cm & \\  & & & & 121 cm & & & & & & 198 cm & 0.887 & \\  & & & 87 cm & & & & & & & 136 cm & \\ \hline \end{tabular}
\end{table} 
Table 3: Object segmentation results and 3D information of test image 3. Figure 18: The result of Test image 3. (**a**) Image pair; (**b**) Object edge contour; (**c**) Object segmentation; (**d**) Background image. Three different foreground objects are detected and segmented from Test image 4 shown in Figure 19c. The distance and size of the foreground objects are estimated and listed in the sequence in Table 4. Because the object segmentation uses morphology closing and run-length smoothing algorithm to label the region covered by the object, the hollow area inside the object is also labeled as part of the object. Considering object 1 in Table 4 as an example, we observe that the hollow area of the chair is directly labeled as part of the object, and this did not affect the subsequent analysis and recognition of the object. Because the above Middlebury and KITTI datasets did not provide the distance or the size of each object, this paper develops an image capture system to capture test images, as shown in Figure 20. Two Diamond color cameras (15-CAH22) are used, and the image capture card is an ADLINK PCIe-2602. The relevant hardware specifications are as follows: the sensor is a 1/3\" Panasonic CMOS, the image resolution is 1920 \(\times\) 1080 pixels, the camera pixel size is 2.5 \(\upmu\)m \(\times\) 3.2 \(\upmu\)m, and the focal length is 6 mm. Considering that the distance of the objects to be photographed in indoor and outdoor scenes is different, the baseline of the two cameras is designed to be adjustable. In Figure 20, the camera on the left is fixed. The camera on the right is controlled and adjusted to the desired position by the stepper motor, and the adjustable range is from 0-45 cm. In this paper, the baseline is a preset fixed value for outdoor or indoor scenes. Therefore, only two baselines are adjusted \begin{table}
\begin{tabular}{c c c c c c c c c c c c} \hline \hline \multirow{2}{*}{**No.**} & **Object** & **Object** & **Object** & **Object** & **Object** & **Overall** & **No.** & **Object** & **Object** & **Object** & **Object** & **Object** & **Overall** \\  & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** & **Acc.** & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** \\ \hline \multirow{2}{*}{1} & & & & & 136 cm & & & & & & 134 cm & \\  & & & & 74 cm & 0.794 & 3 & & & & & 40 cm & 0.924 \\  & & & & 75 cm & & & & & & 34 cm & \\ \hline \multirow{2}{*}{2} & & & & 83 cm & & & & & & & & \\  & & & 44 cm & 0.959 & & & & & & & \\  & & & 29 cm & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Object segmentation results and 3D information of test image 4. Figure 19: The result of Test image 4. (**a**) Image pair; (**b**) Object edge contour; (**c**) Object segmentation; (**d**) Background image. by the preset rotation angles of the stepper motor. The baseline of the outdoor or indoor is set to 300 mm or 50 mm, respectively.