Adaptive variable baseline stereo for vergence control

Active control of camera positioning is an important tool in the recovery of scene information. In this paper an important innovation is introduced which uses the local spatial frequency content of the acquired images to adaptively control stereo baseline, improving both the reliability and speed of the depth recovery process. This technique was designed to support the operation of an active vergent stereo imaging system by providing a coarse map of depth for camera fixation, providing an initial map of surface depth for accurate vergence