Purposeful gazing in active vision through phase-based disparity and dynamic vergence control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this research we propose solutions to the problems involved in gaze stabilization of a binocular active vision system, i.e., vergence error extraction, and vergence servo control. Gazing is realized by decreasing the disparity which represents the vergence error. A Fourier transform based approach that robustly and efficiently estimates vergence disparity is developed for holding gaze on selected visual target. It is shown that this method has certain advantages over existing approaches. Our work also points out that vision sensor based vergence control system is a dual sampling rate system. Feedback information prediction and dynamic vision-based self-tuning control strategy are investigated to implement vergence control. Experiments on the gaze stabilization using the techniques developed in this paper are performed.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsDavid P. Casasent
Pages87-95
Number of pages9
StatePublished - Dec 1 1994
EventIntelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision - Boston, MA, USA
Duration: Nov 2 1994Nov 4 1994

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume2354
ISSN (Print)0277-786X

Other

OtherIntelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision
CityBoston, MA, USA
Period11/2/9411/4/94

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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  • Cite this

    Wu, L., & Marefat, M. M. (1994). Purposeful gazing in active vision through phase-based disparity and dynamic vergence control. In D. P. Casasent (Ed.), Proceedings of SPIE - The International Society for Optical Engineering (pp. 87-95). (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 2354).