Abstract
Binocular robots whose camera can be independently directed
require some mechanism for aiming both cameras at the same world point.
The authors describe a mechanism for verging the cameras of the
Rochester Robot in real time. The mechanism consists of a discrete
control loop driven by an algorithm that estimates a single disparity
from the two cameras. Two algorithms for disparity estimation are
presented. The first uses the cepstral-transform approach of Y. Yeshuran
and E.L. Schwartz (1987), and it is argued that, in this application,
the cepstrum is best understood as autocorrelation with an adaptive
filter that acts to sharpen peaks in the autocorrelation image. It is
also shown that qualitatively similar filters have similar effects, with
the limiting case being equivalent to deconvolution. Efficient real-time
implementations of the cepstral and deconvolution approaches are
described
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