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Range from focus

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2 Author(s)
Krotkov, E. ; GRASP Laboratory, University of Pennsylvania, Philadelphia, PA ; Martin, J.-P.

One method for improving the vision system of a robot is to allow the robot to automatically focus its cameras and to use focus as a depth cue. In this paper, the problem of automatic focusing is reduced, by a theoretical analysis of defocus as a wave aberration which attenuates high spatial-frequencies, to the problem of measuring the high spatial-frequency content of an image. The problem of recovering range from focus is treated using a focus criterion function along with knowledge of the lens parameters to solve the lens law for range. The accuracy of the range measurements is approximately 10% of object distances between 1 and 2m.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986