Vergence Control and Disparity Estimation with Energy Neurons: Theory and Implementation

Authors:
Wolfgang Stürzl;Ulrich Hoffmann;Hanspeter A. Mallot
Affiliations:
-;-;-
Venue:
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
Year:
2002

Citing 2
Cited 2

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An adaptive fuzzy system for the control of the vergence angle on a robotic head

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Abstract

The responses of disparity-tuned neurons computed according to the energy model are used for reliable vergence control of a stereo camera head and for disparity estimation. Adjustment of symmetric vergence is driven by minimization of global image disparity resulting in greatly reduced residual disparities. To estimate disparities, cell activities of four frequency channels are pooled and normalized. In contrast to previous active stereo systems based on Gabor filters, our approach uses the responses of simulated neurons which model complex cells in the vertebrate visual cortex.