Phase-Based Disparity Estimation in Binocular Tracking
Atsuto Maki, Tomas Uhlin and Jan-Olof Eklundh
Proc. 8th Scandinavian Conference on Image Analysis (K. Heia K. A. Høgdra, B. Braathen, ed.),
(Tromsø, Norway), pp. 1145--1152, Norwegian Society for Image Processing and Pattern
Recognition, May 1993.
Binocular robots whose cameras can be independently directed require
some mechanism for verging; i.e. aiming both cameras at a
fixation point. Since the desired vergence angle is directly related
to target distance, some sensory cue to give depth information is
required to the vergence system. The estimationnadabinoculaCVAP/r disparity is
a fundamental precursor to the depth estimation.
Algorithms using phase provide a new promising method for example
based on the output of Gabor filters for disparity estimation.
In this article, at first, we give a brief description of
the phase-based algorithm, including an extension
to handle the "wrap-around" problem, and a coarse-to-fine strategy
"the hierarchical method with pixel-shift" is presented.
For binocular tracking, computational time is restrict.
Nevertheless, generally heavy calculations are
required to get an output through Gabor filters.
For that reason, a step-wise fast filter is examined
and it is shown to be a substitute for the Gabor filter.
Finally the algorithm with the fast filter is applied to
a tracking control on the KTH head-eye system.