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1 March 1992 TRISH: the Toronto-IRIS Stereo Head
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This paper introduces and motivates the design of a controllable stereo vision head. The Toronto IRIS stereo head (TRISH) is a binocular camera mount consisting of two AGC, fixed focal length color cameras forming a verging stereo pair. TRISH is capable of version (rotation of the eyes about the vertical axis so as to maintain a constant disparity), vergence (rotation of the eyes about the vertical axis so as to change the disparity), pan (rotation of the entire head about the vertical axis), and tilt (rotation of the eyes about the horizontal axis). One novel characteristic of the design is that the two cameras can rotate about their own optical axes (torsion). Torsion movement makes it possible to minimize the vertical component of the two-dimensional search which is associated with stereo processing in verging stereo systems.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Michael R. M. Jenkin, Evangelos E. Milios, and John K. Tsotsos "TRISH: the Toronto-IRIS Stereo Head", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992);


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