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Automatic vergence control based on hierarchical segmentation of stereo pairs
Author(s) -
Marfil R.,
Urdiales C.,
Rodríguez J. A.,
Sandoval F.
Publication year - 2003
Publication title -
international journal of imaging systems and technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.359
H-Index - 47
eISSN - 1098-1098
pISSN - 0899-9457
DOI - 10.1002/ima.10058
Subject(s) - artificial intelligence , computer vision , computer science , vergence (optics) , segmentation , focus (optics) , noise (video) , object (grammar) , stereopsis , image (mathematics) , optics , physics
This article presents a video system to focus an object of interest in the field of view by means of a stereo robotic head. The system relies on a new hierarchical segmentation technique that split the stereo pair into regions in a combined way. After segmentation is achieved, resulting regions in both images are implicitly related by a set of links and, consequently, their disparity can be estimated. Then, the cameras vergence is changed according to the estimated disparity until the object of interest is focused. The system has proven to be robust against mild noise and illumination changes. Its main advantage is that calibration is not a critical issue for the system to work. © 2003 Wiley Periodicals, Inc. Int J Imaging Syst Technol 13, 224–233, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ima.10058