A Modular 10-DOF Vision System for High-Resolution Active Stereo
نویسندگان
چکیده
We present a low-cost active vision system with ten degrees of freedom which has been built from off-the-shelf parts. To obtain high resolution depth information of fixated objects in the scene a general purpose calibration procedure is proposed which estimates intrinsic and extrinsic camera parameters including the vergence axes of both cameras. To produce enhanced dense depth maps a hierarchical block matching procedure is presented which employs color information. To simplify the development of controlling strategies for the head a modular hierarchy is proposed that distributes various tasks among different levels employing basic capabilities of the components of the head. * The University of Auckland, Tamaki Campus, Computing and Information Technology Research, Computer Vision Unit ** Technical University of Berlin, Institute for Technical Computer Science, Computer Vision Group *** University of Erlangen-Nuremberg, Telecommunications Institute This work was funded by the Deutsche Forschungsgemeinschaft (DFG).
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