Active vision: 3D from an image sequence

Abstract

An approach to active depth perception using stereo methods is proposed. Active vision is characterized by gaze control for input-dependent data acquisition, coupled with a treatment of the reliability of the acquired information. An active solution is proposed for the task of computing 3D depth from an image sequence, where the camera can be controlled. After each phase of computation (between pictures), when information is still needed, the camera is placed in a new optimal position for the next picture. This process is repeated until sufficient accuracy is achieved. The proposed approach improves the ability to perform tasks in a noisy environment. The accuracy and reliability of solutions are improved, and the quantity of necessary data and computations is reduced.<>