Purposeful gazing and vergence control for active vision

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The purposeful-gazing capability of active vision offers advantages to many manufacturing tasks. This paper discusses the problems associated with purposeful gazing and fixation of attention for active vision. In binocular active vision, gazing at a selected target refers to directing the visual axes to capture the target in the (appropriate part of) the visual field by both sensors (cameras), and holding gaze refers to directing the visual axes of the sensors so as to maintain the target or point of interest in the visual field of both sensors. This paper proposes solutions to the important problems involved in gaze stabilization by developing techniques for vergence error extraction, and vergence servo control. Vergence is the tilt movement process of two visual sensors (in a binocular system) in opposite directions to fixate at a selected point. Binocular gazing is realized by decreasing the disparity which represents the vergence error. In order to obtain the disparity for extraction of vergence error, a phase-based approach that robustly and efficiently estimates vergence disparity is developed. To control vergence, we present a dual sampling-rate approach for vision-sensor-based dynamic servo control.

Original languageEnglish (US)
Pages (from-to)135-155
Number of pages21
JournalRobotics and Computer-Integrated Manufacturing
Volume12
Issue number2
DOIs
StatePublished - Jun 1996

Fingerprint

Active Vision
Binoculars
Sensors
Sensor
Target
Fixation
Tilt
Stabilization
Cameras
Vision
Sampling
Manufacturing
Camera
Estimate

Keywords

  • Active vision
  • Gaze stabilization
  • Purposeful gazing
  • Vergence
  • Vision-based dynamic control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Purposeful gazing and vergence control for active vision. / Marefat, Michael Mahmoud; Wu, Liwei.

In: Robotics and Computer-Integrated Manufacturing, Vol. 12, No. 2, 06.1996, p. 135-155.

Research output: Contribution to journalArticle

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