Monocular stereo image processing using viewpoint switching iris

Moriue, Yuta; Takaki, Takeshi; Yamamoto, Kenkichi; Ishii, Idaku

doi:10.1109/robot.2009.5152575

Cited by 1 publication

(1 citation statement)

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“…This is because catadioptric stereo systems involving large mirrors are too heavy to quickly change their orientations, and it is difficult to control the pan and tilt angles of mirrored virtual cameras independently. Monocular stereo systems that can quickly switch their viewpoints with dynamic changing apertures, such as a programmable iris with a liquid crystal device [ 76 ] and multiple pinhole apertures with a rotating slit [ 77 ], also have been reported as expansions of an image-layering stereo with designed apertures, whereas they have not considered an active stereo for a wide field of view due to a very narrow baseline stereo measurement.…”

Section: Introductionmentioning

confidence: 99%

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

Takaki

Ishii

2017

Sensors

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This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the active vision system can function virtually as two or more tracking cameras with different views. It enables a single active vision system to act as virtual left and right pan-tilt cameras that can simultaneously shoot a pair of stereo images for the same object to be observed at arbitrary viewpoints by switching the direction of the mirrors of the active vision system frame by frame. We developed a monocular galvano-mirror-based stereo tracking system that can switch between 500 different views in a second, and it functions as a catadioptric active stereo with left and right pan-tilt tracking cameras that can virtually capture 8-bit color 512×512 images each operating at 250 fps to mechanically track a fast-moving object with a sufficient parallax for accurate 3D measurement. Several tracking experiments for moving objects in 3D space are described to demonstrate the performance of our monocular stereo tracking system.

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Section: Introductionmentioning

confidence: 99%