Active stereo: integrating disparity, vergence, focus, aperture andcalibration for surface estimation
Ahuja, N.; Abbott, A.L.
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Volume 15, Issue 10, Oct 1993 Page(s):1007 - 1029
Digital Object Identifier 10.1109/34.254059
Summary:An approach to integrating stereo disparity, camera vergence, and
lens focus to exploit their complementary strengths and weaknesses
through active control of camera focus and orientations is presented. In
addition, the aperture and zoom settings of the cameras are controlled.
The result is an active vision system that dynamically and cooperatively
interleaves image acquisition with surface estimation. A dense composite
map of a single contiguous surface is synthesized by automatically
scanning the surface and combining estimates of adjacent, local surface
patches. This problem is formulated as one of minimizing a pair of
objective functions. The first such function is concerned with the
selection of a target for fixation. The second objective function guides
the surface estimation process in the vicinity of the fixation point.
Calibration parameters of the cameras are treated as variables during
optimization, thus making camera calibration an integral, flexible
component of surface estimation. An implementation of this method is
described, and a performance evaluation of the system is presented. An
average absolute error of less than 0.15% in estimated depth was
achieved for a large surface having a depth of approximately 2 m
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