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Active stereo: integrating disparity, vergence,
focus, aperture and calibration for surface estimation Narendra
Ahuja and Abbott, A.L. 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. Full Text: PDF (2568 KB) |