Active vision for reliable ranging: Cooperating focus, stereo, and vergence

  • Krotkov E
  • Bajcsy R
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This article addresses the problem of measuring reliabily the absolute
three-dimensional position of objects in an unknown and cluttered
scene. It circumvents the limitations of a single sensor or single
algorithm by using several range recovery techniques together, so
that they cooperate in visual behaviors similar to those exhibited
by the human visual system. Implemented visual behaviors include
(i) aperture adjustment to vary depth of field and contrast, (ii)
focus ranging followed by fixation, (iii) stereo ranging followed
by focus ranging, and (iv) focus ranging followed by disparity prediction
followed by focus ranging. The main contribution is a demonstration
that two particular visual ranging processes-focusing and stereo-can
cooperate to improve measurement reliability. The results of 75 experiments
processing close to 3000 different object points lying at distances
between 1 and 3 meters demonstrate that the computed range values
are highly reliable.

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  • Eric Krotkov

  • Ruzena Bajcsy

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