Abstract
This article is concerned with the design and implementation of a system for real time tracking of a moving object and binocular vergence control for depth estimation. Object detection relies only on the image motion without making any a priori assumptions about the object form. Using only the first spatiotemporal image derivatives subtraction of the normal optical flow induced by camera motion yields the object image motion. On the other hand, both the left and the right image are filtered hierarchically with Gabor functions. The phase difference of the responses yields a disparity map. The disparity in the center is the reference signal for vergence control of the binocular head. Both behaviors are implemented in parallel and the cycle rate achieved is 25 Hz.
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References
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© 1996 Springer-Verlag Berlin Heidelberg
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Daniilidis, K., Hansen, M., Sommer, G. (1996). Real Time Pursuit and Vergence Control with an Active Binocular Head. In: Schmidt, G., Freyberger, F. (eds) Autonome Mobile Systeme 1996. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-80324-6_7
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DOI: https://doi.org/10.1007/978-3-642-80324-6_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-61751-8
Online ISBN: 978-3-642-80324-6
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