Abstract
In binocular visual systems, vergence is the process of directing
the gaze so that the optical axes intersect at a surface point.
Correlation-based methods of disparity analysis provide fast estimates
of the vergence error. Unfortunately most correlation techniques do not
provide mechanisms to determine which image locations contributed to a
given correlation peak. The result is that large correlation peaks may
have contributions from image arena not relevant to the vergence task.
This paper presents a vergence system that applies a cepstral filter to
multiscale images obtained from a dominant-eye binocular sensor. As used
by this system, the cepstral filter has two main advantages: it enhances
targets through narrow-band signal suppression, and it supports a
back-projection operation to determine the image locations associated
with particular correlation peaks. The use of multiscale images allows
the system to have both high resolution for precision in the final
vergence and a large field of view for a wide range of initial camera
orientations without undue computational cost
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