Self-Calibration of Stationary Cameras
International Journal of Computer Vision
Characterizing the uncertainty of the fundamental matrix
Computer Vision and Image Understanding
Real-Time Epipolar Geometry Estimation of Binocular Stereo Heads
IEEE Transactions on Pattern Analysis and Machine Intelligence
Self Calibration of the Fixation Movement of a Stereo Camera Head
Autonomous Robots
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
The Effects of Translational Misalignment when Self-Calibrating Rotating and Zooming Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Real-Time Face Detection
International Journal of Computer Vision
Camera cooperation for achieving visual attention
Machine Vision and Applications
Automated Alignment of Robotic Pan-Tilt Camera Units Using Vision
International Journal of Computer Vision
On the probabilistic epipolar geometry
Image and Vision Computing
Active stereo tracking of N ≤ 3 targets using line scan cameras
IEEE Transactions on Robotics
Calibration of an active binocular head
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimates of the camera orientations, estimated in an offline stage. Following this, a fast online procedure is presented to update the calibration of an active binocular camera pair. The proposed approach is ideal for active vision applications because no image-processing is needed at runtime for the scope of calibrating the system or for maintaining the calibration parameters during camera vergence. We show that this homography-based technique allows an active binocular robot to fixate and track an object, whilst performing 3D reconstruction concurrently in real-time.