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A comparative study of stereo, vergence,
and focus as depth cues for active vision Das, S. and Narendra
Ahuja 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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