Abstract
Stereo vision and motion analysis have been frequently used to infer scene structure and to control the movement of a mobile vehicle or a robot arm. Unfortunately, when considered separately, these methods present intrinsic difficulties and a simple fusion of the respective results has been proved to be insufficient in practice.
The paper presents a cooperative schema in which the binocular disparity is computed for corresponding points in several stereo frames and it is used, together with optical flow, to compute the time-to-impact. The formulation of the problem takes into account translation of the stereo set-up and rotation of the cameras while tracking an environmental point and performing one degree of freedom active vergence control. Experiments on a stereo sequence from a real scene are presented and discussed.
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This work has been partially funded by the Esprit projects P2502 VOILA and P3274 FIRST.
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© 1992 Springer-Verlag Berlin Heidelberg
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Grosso, E., Tistarelli, M., Sandini, G. (1992). Active/dynamic stereo for navigation. In: Sandini, G. (eds) Computer Vision — ECCV'92. ECCV 1992. Lecture Notes in Computer Science, vol 588. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-55426-2_57
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DOI: https://doi.org/10.1007/3-540-55426-2_57
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