전자공학회논문지S (Journal of the Korean Institute of Telematics and Electronics S)
- 제34S권9호
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- Pages.67-76
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- 1997
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- 1226-5837(pISSN)
배경시차 보정을 이용한 스테레오 시각장치의 주시각제어
Disparity compensation for vergence control of active stereo camera
초록
This ppaer describes the development of the stereo camera system(KASS-1) and the control of the vergence of the stereo camera to fix a gaze on a moving object in real-time using a stereo disparity. The motion energy and the stereo disparity of a moving object from the stereo image are used to control the vergence of stereo camera to keep stereo disparity constant. The disparity from the rotating stereo camera is introduced not only from the moving object but also from the background. In this paper, the background disparity error due to the vergence control of the stereo camera is eliminated by compensation algoithm, and the vergence of steereo camera system can be controlled continuously using the disparity of a moving object only.
키워드