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FOVEA: a foveated vergent active stereo system for dynamic three-dimensional scene recovery

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2 Author(s)
Klarquist, W. ; Lockheed Martin Astronautics, Denver, CO, USA ; Bovik, A.

We introduce FOVEA: a Foveated Vergent Active stereo vision system. FOVEA actively directs a pair of vergent stereo cameras to fixate on surfaces in a scene, performing multiresolution surface depth recovery at each fixation point, and accumulating and integrating a multiresolution map of surface depth over multiple successive fixations. Several features of the system are novel: a foveated image sampling and processing strategy is shown to greatly simplify the problem of establishing; a probabilistic fixation strategy is developed that is driven by the scene structure; the system uses the fixation strategy to recover local depth maps at a high resolution at multiple fixation points, eventually mapping the entire scene; and finally, the local maps are integrated as they are acquired into a global depth map

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998