Active stereo: integrating disparity, vergence, focus, aperture andcalibration for surface estimation
Ahuja, N.
Abbott, A.L.
Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Oct 1993
Volume: 15,
Issue: 10
On page(s): 1007-1029
ISSN: 0162-8828
References Cited: 51
CODEN: ITPIDJ
INSPEC Accession Number: 4580735
Digital Object Identifier: 10.1109/34.254059
Current Version Published: 2002-08-06
Abstract
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
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
