On the Importance of Being Asymmetric in Stereopsis—Or Why We Should Use Skewed Parallel Cameras

Authors:
Antônio Francisco;Fredrik Bergholm
Affiliations:
Computational Vision and Active Perception Laboratory (CVAP), Department of Numerical Analysis and Computer Science, Royal Institute of Technology, S-100 44 Stockholm, Sweden;Computational Vision and Active Perception Laboratory (CVAP), Department of Numerical Analysis and Computer Science, Royal Institute of Technology, S-100 44 Stockholm, Sweden
Venue:
International Journal of Computer Vision
Year:
1998

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Abstract

This paper presents a new clevercamera sensor, where relative pose determination is not needed,and the sensor is simultaneously capableof using vergence micromovements.Sweeping depth using vergence micromovements promises subpixeldepth precision, measuring zero disparity at each time instant.We show that curves preserving zero disparityare exactly conics, nondegenerate or degenerate.Oddly enough, only circles (Vieth-Müller circles) are routinely considered, either theoretically or in practical work, in vergence stereo. Horopters in human vision, cf.Ogle (1932), closely resemble conics.We introduce translational vergence by suggesting the use ofa pair of shift-optics CCD cameras. The nonrigidity causeszero disparity curves to become planes, for each fixation. (They are degenerate conics.) We have parallel optical axes,but slanting left and right primary lines of sight.During vergence movements, the primary lines of sight move over time.This has farreaching consequences:Binocular head-eye systems all involve relative camera rotation, to fixate. But, camera rotation is unnecessary. Hence, for relative depth maps,there is no need formeasuring camera rotation (relative camera pose) from mechanical sources.Nor are algorithms needed for calculating epipolar lines. The suggested technique removes the need for camera rotations about the optical centers in a binocular head-eye system.