IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust vergence with concurrent identification of occlusion and specular highlights
Computer Vision and Image Understanding
Dynamic Vergence Using Log-Polar Images
International Journal of Computer Vision
Disparity estimation on log-polar images and vergence control
Computer Vision and Image Understanding
Stability of Phase Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Stereo Matching Algorithm with an Adaptive Window: Theory and Experiment
IEEE Transactions on Pattern Analysis and Machine Intelligence
Active Depth Estimation with Gaze and Vergence Control Using Gabor Filters
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
A space-variant approach to oculomotor control
ISCV '95 Proceedings of the International Symposium on Computer Vision
Log-polar mapping template design: From task-level requirements to geometry parameters
Image and Vision Computing
A PHYSICAL SYSTEM FOR BINOCULAR VISION THROUGH SACCADE GENERATION AND VERGENCE CONTROL
Cybernetics and Systems
A quantitative comparison of speed and reliability for log-polar mapping techniques
ICVS'11 Proceedings of the 8th international conference on Computer vision systems
Pattern Recognition Letters
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The flexibility in primate vision that utilizes active binocular vision is unparalleled even with modern fixed-stereo-based vision systems. However to follow the path of active binocular vision, the difficulty of attaining fixative capabilities is of primary concern. This paper presents a binocular vergence model that utilizes the retino-cortical log polar mapping in the primate vision system. Individual images of the binocular pair were converted to multi-resolution pyramids bearing a coarse-to-fine architecture (low resolution to high resolution) and disparity estimation on these pyramidal resolutions was performed using normalized cross correlation on the log polar images. The model was deployed on an actual binocular vergence system with independent pan-tilt controls for each camera and the system was able to robustly verge on objects even in cluttered environment with real time performance. This paper even presents the experimental results of the system functioning in unbalanced contrast exposures between the two cameras. The results proved favorable for real world robotic vision applications where noise is prevalent. The proposed vergence control model was also compared with a standard window based Cartesian stereo matching method and showed superior performance.