Trinocular Stereo Vision for Robotics
IEEE Transactions on Pattern Analysis and Machine Intelligence
3-D Surface Description from Binocular Stereo
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Calibration of a computer controlled robotic vision sensor with a zoom lens
CVGIP: Image Understanding
Modeling and calibration of automated zoom lenses
Modeling and calibration of automated zoom lenses
Some Aspects of Zoom Lens Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Few Steps Towards 3d Active Vision
A Few Steps Towards 3d Active Vision
A 3d trinocular active vision system for surface reconstruction (three-dimensional)
A 3d trinocular active vision system for surface reconstruction (three-dimensional)
Calibration of an active binocular head
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Making Sensor Networks Practical with Robots
Pervasive '02 Proceedings of the First International Conference on Pervasive Computing
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The CardEye is an experimental, trinocular, 3D active vision system. Our goal is to create a flexible, precise tool for active vision research. The system uses an agile trinocular vision head that will be mounted on a robotic arm. The system has several degrees of freedom: pan, tilt, roll, vergence and variable baseline in addition to the automated zoom and focus of the cameras lenses. It utilizes an active lighting device to assist in the surface reconstruction process. After solving for the best system variables to image a surface, a novel multi-stage reconstruction algorithm is used to build a rich, complete 3D model of the surface. In this paper we describe the novel architecture of the system and its successful application to reconstruction of objects of varying surface characteristics.