Vergence control system for stereo depth recovery

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Title: Vergence control system for stereo depth recovery
Authors: Jiménez García, Luis Miguel | Reinoso García, Óscar | Aracil Santonja, Rafael | Torres, Fernando | Sebastián y Zúñiga, José María
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad Miguel Hernández. Departamento de Ingenieria de Sistemas Industriales | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad Politécnica de Madrid. Departamento de Automática, Ingeniería Electrónica e Informática Industrial
Keywords: Vergence control | Stereo vision | Depth recovery
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 1999
Publisher: Society of Photo-Optical Instrumentation Engineers
Citation: JIMÉNEZ GARCÍA, Luis Miguel, et al. "Vergence control system for stereo depth recovery". En: Machine vision applications in industrial inspection VII : 25-26 January 1999, San Jose, California / Kenneth W. Tobin, Ning S. Chang, chairs/editors. Bellingham, Wash. : SPIE, 1999. ISBN 0-8194-3123-0, pp. 232-237
Abstract: This paper describes a vergence control algorithm for a 3D stereo recovery system. This work has been developed within framework of the project ROBTET. This project has the purpose of designing a Teleoperated Robotic System for live power lines maintenance. The tasks involved suppose the automatic calculation of path for standard tasks, collision detection to avoid electrical shocks, force feedback and accurate visual data, and the generation of collision free real paths. To accomplish these tasks the system needs an exact model of the environment that is acquired through an active stereoscopic head. A cooperative algorithm using vergence and stereo correlation is shown. The proposed system is carried out through an algorithm based on the phase correlation, trying to keep the vergence on the interest object. The sharp vergence changes produced by the variation of the interest objects are controlled through an estimation of the depth distance generated by a stereo correspondence system. In some elements of the scene, those aligned with the epipolar plane, large errors in the depth estimation as well as in the phase correlation, are produced. To minimize these errors a laser lighting system is used to help fixation, assuring an adequate vergence and depth extraction .
Sponsor: The work presented in this paper has been supported by electric utility IBERDROLA, S.A. under project PIE No. 132.198.
ISBN: 0-8194-3123-0
Language: eng
Type: info:eu-repo/semantics/bookPart
Rights: Copyright 1999 Society of Photo-Optical Instrumentation Engineers. This paper was published in Machine vision applications in industrial inspection VII and is made available as an electronic reprint with permission of SPIE. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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