Title :
Active stereo vision and cyclotorsion
Author :
Jenkin, Michael R M ; Tsotsos, John K.
Author_Institution :
Dept. of Comput. Sci., York Univ., North York, Ont., Canada
Abstract :
When a particular point is fixated by an active stereo system different portions of the world are brought into interocular alignment. This region is known as the horoptor. Through an examination of the horoptor under different viewing conditions it is demonstrated that for certain binocular tasks it is desirable to manipulate the horoptor by rotating (torquing) the cameras about their optical axes. This manipulation can be passive for operations such as stereo based obstacle detection for mobile robots, or active for active binocular heads. Techniques for both situations are presented
Keywords :
mobile robots; stereo image processing; active binocular heads; active stereo system; cyclotorsion; horoptor; interocular alignment; mobile robots; obstacle detection; stereo vision; Mobile robots; Stereo vision;
Conference_Titel :
Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-8186-5825-8
DOI :
10.1109/CVPR.1994.323903
