Proceedings of a workshop on Image understanding workshop
Artificial Intelligence
The role of fixation in visual motion analysis
International Journal of Computer Vision
Artificial Intelligence - Special volume on computer vision
A maximum likelihood stereo algorithm
Computer Vision and Image Understanding
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Fixation simplifies 3D motion estimation
Computer Vision and Image Understanding
Fast relative depth computation for an active stereo vision system
Real-Time Imaging
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Direct Methods for Self-Calibration of a Moving Stereo Head
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Spinoza: A Stereoscopic Visually Guided Mobile Robot
HICSS '97 Proceedings of the 30th Hawaii International Conference on System Sciences: Advanced Technology Track - Volume 5
Active estimation of distance in a robotic system that replicates human eye movement
Robotics and Autonomous Systems
Epipolar Geometry for Humanoid Robotic Heads
Cognitive Vision
Safety, uncertainty, and real-time problems in developing autonomous robots
ISPRA'09 Proceedings of the 8th WSEAS international conference on Signal processing, robotics and automation
Continuous stereo self-calibration by camera parameter tracking
IEEE Transactions on Image Processing
An Active Vision System for Detecting, Fixating and Manipulating Objects in the Real World
International Journal of Robotics Research
Determining relative geometry of cameras from normal flows
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Tracking camera parameters of an active stereo rig
DAGM'06 Proceedings of the 28th conference on Pattern Recognition
Direct estimation of the stereo geometry from monocular normal flows
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part I
Real-time visuomotor update of an active binocular head
Autonomous Robots
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Stereo is an important cue for visually guided robots. While moving around in the world, such a robot can use dynamic fixation to overcome limitations in image resolution and field of view. In this paper, a binocular stereo system capable of dynamic fixation is presented. The external calibration is performed continuously taking temporal consistency into consideration, greatly simplifying the process. The essential matrix, which is estimated in real-time, is used to describe the epipolar geometry. It will be shown, how outliers can be identified and excluded from the calculations. An iterative approach based on a differential model of the optical flow, commonly used in structure from motion, is also presented and tested towards the essential matrix. The iterative method will be shown to be superior in terms of both computational speed and robustness, when the vergence angles are less than about 15^{\circ}. For larger angles, the differential model is insufficient and the essential matrix is preferably used instead.