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Active/dynamic stereo for navigation

  • Enrico Grosso
  • Massimo Tistarelli
  • Giulio Sandini
Conference paper
First Online:
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.
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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

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