Dense Depth Maps using Stereo Vision Head

In this paper, we examine and present the development of a depth map acquisition system with real-time characteristics based on a binocular active vision system. In order to obtain depth information we present a method that combines stereo matching with mechanical activity, reducing the time spent to perform the correspondence between the image points on the left and right images. Controlling the cameras' vergence or the baseline distance it is possible to change continuously the xation point in the space and, at the same time, to select points with correspondent image projections. Computing the distance from those points to the vision system, is possible to obtain a dense relative map of the scene. The correspondence is established based on similarity measures between image regions. This measures are performed by operators with characteristics that makes this method suitable for parallel implementation. Since the depth information is relative, the calibration of the active vision system is minimal.