This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the a...

Stereoscopic vision delivers a sense of depth based on binocular information but additionally acts as a mechanism for achieving correspondence between patterns arriving at the left and right eyes. We analyse quantitatively the cortical architecture for stereoscopic vision in two areas of macaque visual cortex. For primary visual cortex V1, the result is consistent with a module that is isotropi...

The research of face recognition and face distance estimation is a study that is being developed nowadays. This research proposes a model of face recognition by combining wavelet decomposition, PCA and Mahalanobis distance. This method will provide a better of recognition rate and will improve the computation time of face recognition. We also develop the measurement of distance between the face...

A stereo vision system that is required to support high-level object based tasks in a tele-operated environment is described. Stereo vision is computationally expensive, due to having to find corresponding pixels. Correlation is a fast, standard way to solve the correspondence problem. This paper analyses the behaviour of correlation based stereo to find ways to improve its quality while mainta...

Stereo vision is the recovery of depth of a scene using multiple images with di erent points of view. The major task in stereo vision is establishing correspondence of points between images given a known pinhole-model of the stereo cameras. Two major approaches to matching points have been used widely: feature-based matching and areaor correlationbased matching. It is well known that both appro...

In this paper, we propose a fast and easy camera calibration and 3-D measurement method with an active stereo vision system for handling moving objects whose geometric models are known. We adopt the stereo vision system that can change its direction to follow the moving objects. To gain the extrinsic camera parameters in real time, a baseline stereo camera (parallel stereo camera) model and a p...

A new method for actively recovering depth information using image defocus is demonstrated and shown to support active stereo vision depth recovery by providing monocular depth estimates to guide the positioning of cameras for stereo processing. This active depth-from-defocus approach employs a spatial frequency model for image defocus which incorporates the optical transfer function of the ima...

This paper describes a reconfigurable digital architecture to compute dense disparity maps at video-rate for stereo vision. The processor architecture is described in synthetizable VHDL and, by means of the reconfigurability, the hardware requirements are optimized for different image resolutions and matching scenarios. To have a configurable description of a stereo processor provides the entit...

The omnidirectional vision system has been given increasing attentions in recent years in many engineering research areas such as computer vision and mobile robot since it has wide field of view (FOV). A general method for 360o omnidirectional image acquisition is the catadioptric approach using a coaxially aligned convex mirror and a conventional camera. The catadioptric approach with the conv...

This work deals with the problem of estimating the trajectory of an autonomous rover by passive stereo vision only (visual odometry). The proposed method relies on the tracking of pointwise image features and on the estimation of the robot motion by robust bundle adjustment of the stereo matched features, before and after the motion. Preliminary results from the application of the algorithm bot...