Adaptive control of camera position for stereo vision

Jill D. Crisman; Michael E. Cleary

doi:10.1117/12.169378

15 March 1994 Adaptive control of camera position for stereo vision

Jill D. Crisman, Michael E. Cleary

Proceedings Volume 2065, Optics, Illumination, and Image Sensing for Machine Vision VIII; (1994) https://doi.org/10.1117/12.169378
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

A major problem in using two-camera stereo machine vision to perform real-world tasks, such as visual object tracking, is deciding where to position the cameras. Humans accomplish the analogous task by positioning their heads and eyes for optimal stereo effects. This paper describes recent work toward developing automated control strategies for camera motion in stereo machine vision systems for mobile robot navigation. Our goal is to achieve fast, reliable pursuit of a target while avoiding obstacles. Our strategy results in smooth, stable camera motion despite robot and target motion. Our algorithm has been shown to be successful at navigating a mobile robot, mediating visual target tracking and ultrasonic obstacle detection. The architecture, hardware, and simulation results are discussed.

Citation Download Citation

Jill D. Crisman and Michael E. Cleary "Adaptive control of camera position for stereo vision", Proc. SPIE 2065, Optics, Illumination, and Image Sensing for Machine Vision VIII, (15 March 1994); https://doi.org/10.1117/12.169378

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