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Proceedings Paper

Dynamic integration of visual cues for position estimation
Author(s): Subhodev Das; Narendra Ahuja
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Paper Abstract

Three-dimensional (3D) position estimation using a single passive sensor particularly vision has frequently suffered from unreliability and has involved complex processing methods. Past research has combined vision with other active sensors in which the emphasis has been on data fusion. This paper attempts to integrate multiple passive 3D cues - camera focus camera vergence and stereo disparity - using a single sensor. We argue that in the active vision paradigm an estimate of the position is obtained in the process of fixation in which the imaging parameters are dynamically controlled to direct the attention of the imaging system at the point of interest. Fixation involves integration of the passive cues in a mutually consistent way in order to overcome the deficiencies of any individual cue and to reduce the complexity of processing. Taking into account their reliabilities the individual position estimates from the different cues are combined to form a final overall estimate. 1

Paper Details

Date Published: 1 February 1991
PDF: 12 pages
Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); doi: 10.1117/12.25227
Show Author Affiliations
Subhodev Das, Univ. of Illinois/Urbana-Champaign (United States)
Narendra Ahuja, Univ. of Illinois/Urbana-Champaign (United States)

Published in SPIE Proceedings Vol. 1382:
Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods
David P. Casasent, Editor(s)

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