Advertisement

Active/dynamic stereo for navigation

  • Enrico Grosso
  • Massimo Tistarelli
  • Giulio Sandini
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 588)

Abstract

Stereo vision and motion analysis have been frequently used to infer scene structure and to control the movement of a mobile vehicle or a robot arm. Unfortunately, when considered separately, these methods present intrinsic difficulties and a simple fusion of the respective results has been proved to be insufficient in practice.

The paper presents a cooperative schema in which the binocular disparity is computed for corresponding points in several stereo frames and it is used, together with optical flow, to compute the time-to-impact. The formulation of the problem takes into account translation of the stereo set-up and rotation of the cameras while tracking an environmental point and performing one degree of freedom active vergence control. Experiments on a stereo sequence from a real scene are presented and discussed.

Keywords

Optical Flow Image Point Stereo Vision Relative Depth Stereo Pair 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. [Bro86]
    R.A. Brooks. A robust layered control system for a mobile robot. IEEE Trans. on Robotics and Automat., RA-2:14–23, April 1986.Google Scholar
  2. [CGS91]
    G. Casalino, G. Germano, and G. Sandini. Tracking with a robot head. In Proc. of ESA Workshop on Computer Vision and Image Processing for Spaceborn Applications, Noordwijk, June 10–12, 1991.Google Scholar
  3. [FGMS90]
    F. Ferrari, E. Grosso, M. Magrassi, and G. Sandini. A stereo vision system for real time obstacle avoidance in unknown environment. In Proc. of Intl. Workshop on Intelligent Robots and Systems, Tokyo, Japan, July 1990. IEEE Computer Society.Google Scholar
  4. [GST89]
    E. Grosso, G. Sandini, and M. Tistarelli. 3d object reconstruction using stereo and motion. IEEE Trans. on Syst. Man and Cybern., SMC-19, No. 6, November/December 1989.Google Scholar
  5. [HS81]
    B. K. P. Horn and B. G. Schunck. Determining optical flow. Artificial Intelligence, 17 No.1–3:185–204, 1981.Google Scholar
  6. [KP86]
    B. Kamgar-Parsi. Practical computation of pan and tilt angles in stereo. Technical Report CS-TR-1640, University of Maryland, College Park, MD, March 1986.Google Scholar
  7. [LD88]
    L. Li and J.H. Duncan. Recovering three-dimensional translational velocity and establishing stereo correspondence from binocular image flows. Technical Report CS-TR-2041, University of Maryland, College Park, MD, May 1988.Google Scholar
  8. [Mut86]
    K.M. Mutch. Determining object translation information using stereoscopic motion. IEEE Trans. on PAMI-8, No. 6, 1986.Google Scholar
  9. [OC90]
    T.J. Olson and D.J. Coombs. Real-time vergence control for binocular robots. Technical Report 348, University of Rochester — Dept. of Computer Science, 1990.Google Scholar
  10. [TGS91]
    M. Tistarelli, E. Grosso, and G. Sandini. Dynamic stereo in visual navigation. In Proc. of Int. Conf. on Computer Vision and Pattern Recognition, Lahaina, Maui, Hawaii, June 1991.Google Scholar
  11. [TK91]
    C. Tomasi and T. Kanade. Shape and motion from image streams: a factorization method. Technical Report CS-91-105, Carnegie Mellon University, Pittsburgh, PA, January 1991.Google Scholar
  12. [TS90]
    M. Tistarelli and G. Sandini. Estimation of depth from motion using an anthropomorphic visual sensor. Image and Vision Computing, 8, No. 4:271–278, 1990.Google Scholar
  13. [UGVT88]
    S. Uras, F. Girosi, A. Verri, and V. Torre. Computational approach to motion perception. Biological Cybernetics, 1988.Google Scholar
  14. [WD86]
    A.M. Waxman and J.H. Duncan. Binocular image flows: Steps toward stereo-motion fusion. IEEE Trans. on PAMI — 8, No. 6, 1986.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1992

Authors and Affiliations

  • Enrico Grosso
    • 1
  • Massimo Tistarelli
    • 1
  • Giulio Sandini
    • 1
  1. 1.Department of Communication, Computer and Systems Science Integrated Laboratory for Advanced Robotics (LIRA - Lab)University of GenoaGenoaItaly

Personalised recommendations