Abstract
The performances of the binocular cues of stereo, vergence, and
the monocular cue of focus for range estimation using an active vision
system are compared. The performance of each cue is characterized by its
sensitivity to errors in the imaging parameters. The effect of random
quantization errors is expressed in terms of the standard derivation of
the resulting depth error. The effect of systematic calibration errors
on estimation using each cue is studied. Performance characterization of
each cue is shown to be useful for active control of the imaging
parameters to improve the accuracy of the estimated range. Methods to
integrate the use of the cues in order to overcome their individual
limitations are discussed
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