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Performance analysis of stereo, vergence,
and focus as depth cues for active vision This paper compares the performances of the
binocular cues of stereo and vergence, and the
monocular cue of focus for range estimation using an active vision system.
The performance of each cue is characterized in terms of sensitivity to
errors in the imaging parameters. The effects of random, quantization errors
are expressed in terms of the standard deviation of the resulting depth
error. The effect of systematic, calibration errors on estimation using each
cue is also studied. Performance characterization of each cue is utilized to
evaluate the relative performance of the cues. Also discussed, based on such
characterization, are ways to select a cue taking into account the
computational and reliability aspects of the corresponding estimation process. Full Text: PDF (1252 KB) |