Transfer of Fixation Using Affine Structure: Extending theAnalysis to Stereo

  • Authors:

  • Stuart M. Fairley;Ian D. Reid;David W. Murray

  • Affiliations:

  • Department of Engineering Science, University of Oxford, Parks Road, Oxford, OX1 3PJ, UK. E-mail: stuart@robots.oxford.ac.uk, ian@robots.oxford.ac.uk, dwm@robots.oxford.ac.uk;Department of Engineering Science, University of Oxford, Parks Road, Oxford, OX1 3PJ, UK. E-mail: stuart@robots.oxford.ac.uk, ian@robots.oxford.ac.uk, dwm@robots.oxford.ac.uk;Department of Engineering Science, University of Oxford, Parks Road, Oxford, OX1 3PJ, UK. E-mail: stuart@robots.oxford.ac.uk, ian@robots.oxford.ac.uk, dwm@robots.oxford.ac.uk

  • Venue:
  • International Journal of Computer Vision
  • Year:
  • 1998

Quantified Score

Hi-index 0.00

Visualization

Abstract

This paper describes an algorithm for maintaining fixation upon a 3Dbody-centred point using 3D affine transfer, extending an earliermonocular method to stereo cameras. Transfer is based on cornersdetected in the image and matched over time and in stereo. The paperpresents a method using all available matched data, providing immunityto noise and poor conditioning. The algorithm, implemented at videorates on a multi-processor machine, incorporates controlleddegradation in the presence of insufficient data. Results are givenfrom experiments using a four-axis active stereo camera platform,first which show the greater stability of the fixation point overthe monocular method, both as it appears in the image and occurs in the scene; and, secondly, which show the recovery and evolutionof 3D affine structure during fixation.It is shown that fixation and explicit structurerecovery can occur separately, allowing the information required forgaze control to be computed in a fixed time.