Intelligent Robots and Systems, IEEE/RSJ International Conference on (1995)
Pittsburgh, Pennsylvania, USA
Aug. 5, 1995 to Aug. 9, 1995
W.N. Klarquist , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
W.S. Geisler , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
A.C. Bovik , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
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 image acquisition system and a maximum likelihood estimator to determine the amount of defocus present in a sequence of two or more images taken from the same pose. This defocus estimate is translated into a measurement of depth and associated uncertainty that is used to control the positioning of a variable baseline stereo camera system. This cooperative arrangement significantly reduces the matching uncertainty of the stereo correspondence process and increases the depth resolution obtainable with an active stereo vision platform.
stereo image processing; optical transfer function; maximum likelihood estimation; active vision; computer vision; image sequences; maximum-likelihood depth-from-defocus; active vision; depth information; image defocus; stereo vision; monocular depth estimates; spatial frequency model; optical transfer function; image acquisition system; variable baseline stereo camera system; matching uncertainty; stereo correspondence process
W. Klarquist, A. Bovik and W. Geisler, "Maximum-likelihood depth-from-defocus for active vision," Intelligent Robots and Systems, IEEE/RSJ International Conference on(IROS), Pittsburgh, Pennsylvania, USA, 1995, pp. 3374.