The Agile Stereo Pair for active vision

  • Authors:

  • Eric Samson;Denis Laurendeau;Marc Parizeau;Sylvain Comtois;Jean-François Allan;Clément Gosselin

  • Affiliations:

  • Department of Electrical and Computer Engineering, Computer Vision and Systems Laboratory, Laval University, G1K 7P4, Québec, QC, Canada;Department of Electrical and Computer Engineering, Computer Vision and Systems Laboratory, Laval University, G1K 7P4, Québec, QC, Canada;Department of Electrical and Computer Engineering, Computer Vision and Systems Laboratory, Laval University, G1K 7P4, Québec, QC, Canada;Department of Electrical and Computer Engineering, Computer Vision and Systems Laboratory, Laval University, G1K 7P4, Québec, QC, Canada;Department of Mechanical Engineering, Robotics Laboratory, Laval University, G1K 7P4, Québec, QC, Canada;Department of Mechanical Engineering, Robotics Laboratory, Laval University, G1K 7P4, Québec, QC, Canada

  • Venue:
  • Machine Vision and Applications
  • Year:
  • 2006

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Abstract

This paper presents a new stereo sensor for active vision. Its cameras are mounted on two independent 2-DOF manipulators, which are themselves mounted on two translation stages. The system is designed for fast and accurate dynamical adjustments of gaze, vergence, and baseline. A complete description of its software and hardware components is given, including a detailed discussion of its calibration procedure. The performance of the sensor with respect to dynamical properties and measurement accuracy is also demonstrated through both simulations and experiments.