Abstract
A low-cost active vision head with ten degrees of freedom is presented that has been build from off-the-shelf parts. To obtain high resolution depth information of fixated objects in the scene a general purpose calibration procedure is proposed which estimates intrinsic and extrinsic camera parameters including the vergence axes of both cameras. To produce enhanced dense depth maps a hierarchical block matching procedure is presented that employs color information. To simplify the development of controlling strategies for the head a modular hierarchy is applied that distributes various tasks among different levels employing basic capabilities of the components of the head.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
Ahuja, N., Abbot, A. L.: Active Stereo: integrating disparity, vergence, focus, aperture, and calibration for surface estimation. IEEE Trans. on PAMI 15(10), 1007–1029 (1993)
Bradshaw, K.J., McLauchlan, P.F., Reid, I.D. Murray, D.W.: Saccade and pursuit on an active head-eye platform. Image and Vision Computing 12, 155–163 (1994)
Hartley, R.I., Sturm, P.: Triangulation. Proc. Int. Conf. on Computer Analysis of Images and Patterns 1995, pp. 190–197
Hayman, E., Reid, I.D., Murray, D.W.: Zooming while tracking using affine transfer. Proc. British Machine Vision Conf. 1996
Koschan, A., Rodehorst, V.: Towards real-time stereo employing parallel algorithms for edge-based and dense stereo matching. Proc. Workshop on Computer Architectures for Machine Perception 1995, pp. 234–241
Koschan, A., Rodehorst, V., Spiller, K.: Color stereo vision using hierarchical block matching and active color illumination. Proc. Int. Conf. on Pattern Recognition 1996, Vol. I, pp. 835–839
Krotkov, E., Bajcsy, R.: Active vision for reliable ranging: cooperating focus, stereo, and vergence. Int. J. of Computer Vision 11(2), 187–203 (1993)
Pahlavan, K., Uhlin, T, Eklundh J.-O.: Dynamic fixation. Proc. Int. Conf. on Computer Vision 1993, pp. 412–419
v. Seelen, W., Bohrer, S., Engels, C., Gillner, W., Janssen, H., Neven, H., Schöner, G., Theimer, W.M., Völpel, B.: Visual Information processing in neural architecture. Proc. DAGM-Symposium Mustererkennung 1994
Tsai, R. Y.: An efficient and accurate camera calibration technique for 3d machine vision, Proc. Int. Conf. on Computer Vision and Pattern Recognition 1986, pp. 364–374
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Fellenz, W., Schlüns, K., Koschan, A., Teschner, M. (1997). An active vision system for obtaining high resolution depth information. In: Sommer, G., Daniilidis, K., Pauli, J. (eds) Computer Analysis of Images and Patterns. CAIP 1997. Lecture Notes in Computer Science, vol 1296. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63460-6_184
Download citation
DOI: https://doi.org/10.1007/3-540-63460-6_184
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-63460-7
Online ISBN: 978-3-540-69556-1
eBook Packages: Springer Book Archive