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6 August 1993 Precise vergence control in complex scenes
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Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993)
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
In binocular systems, vergence is the process of directing the gaze so that the optical axes intersect at the point of interest. Region based methods of disparity analysis provide fast and reliable estimates of the vergence error. Unfortunately, it is difficult to determine on what image features these approaches are in fact verging. Previous approaches to vergence control have for the most part failed to ensure that both cameras actually verge on the object of interest, especially in complex scenes. This paper presents a system that addresses this problem. By using the cepstral filter in a multiresolution setting with a dominant camera, our system can verge accurately in complex scenes. Specifically, the system adaptively refines the vergence angle in a scale space consisting of the center patches of a Gaussian pyramid. The effects of the cepstrum in a multiresolution system are analyzed, and the precision and performance of the new system are verified on natural scenes.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
John R. Taylor and Thomas J. Olson "Precise vergence control in complex scenes", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993);


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