Title :
Active depth estimation with gaze and vergence control using Gabor filters
Author :
Hansen, Mlichael ; Sommer, Gerald
Author_Institution :
Comput. Sci. Inst., Kiel Univ., Germany
Abstract :
We address a way of depth estimation using the mechanical degrees of freedom of a stereo vision system. We apply a phase-based approach to compute disparity maps on different resolution, in an action-perception cycle. First, a gaze controller fixates the selected gaze points of the image. Then the vergence movement is commanded. The depth is computed by triangulation after convergence. This strategy (gaze and vergence control) overcomes the problem of large disparities and allows the computation of absolute depth in real time (25 Hz)
Keywords :
active vision; computer vision; motion estimation; position control; spatial filters; stereo image processing; two-term control; Gabor filters; PD control; action-perception cycle; active depth estimation; active vision; convergence; disparity maps; feedback; gaze control; phase-based approach; stereo vision system; triangulation; vergence control; Art; Cameras; Convergence; Focusing; Gabor filters; Humans; Optical filters; Optimal control; Pipelines; Visual perception;
Conference_Titel :
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-8186-7282-X
DOI :
10.1109/ICPR.1996.546035
