NDLI: Active stereo: integrating disparity, vergence, focus, aperture and calibration for surface estimation

Content Provider	IEEE Xplore Digital Library
Author	Ahuja, N. Abbott, A.L.
Copyright Year	1979
Abstract	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.<>
Sponsorship	IEEE Computer Society
Starting Page	1007
Ending Page	1029
Page Count	23
File Size	2909130
File Format	PDF
ISSN	01628828
Volume Number	15
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Apertures Calibration Cameras Surface reconstruction Image reconstruction Layout Focusing Surface treatment Automatic control Lenses
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Computational Theory and Mathematics Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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