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The Agile Stereo Pair for active vision

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Abstract

This paper presents a new stereo sensor for active vision. Its cameras are mounted on two independent 2-DOF manipulators, which are themselves mounted on two translation stages. The system is designed for fast and accurate dynamical adjustments of gaze, vergence, and baseline. A complete description of its software and hardware components is given, including a detailed discussion of its calibration procedure. The performance of the sensor with respect to dynamical properties and measurement accuracy is also demonstrated through both simulations and experiments.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Computer Vision and Systems Laboratory, Laval University, Québec, QC, G1K 7P4, Canada

    Eric Samson, Denis Laurendeau, Marc Parizeau & Sylvain Comtois

  2. Department of Mechanical Engineering, Robotics Laboratory, Laval University, Québec, QC, G1K 7P4, Canada

    Jean-François Allan & Clément Gosselin

Authors
  1. Eric Samson
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  2. Denis Laurendeau
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  3. Marc Parizeau
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  4. Sylvain Comtois
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  5. Jean-François Allan
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  6. Clément Gosselin
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Correspondence to Marc Parizeau.

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Samson, E., Laurendeau, D., Parizeau, M. et al. The Agile Stereo Pair for active vision. Machine Vision and Applications 17, 32–50 (2006). https://doi.org/10.1007/s00138-006-0013-7

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