Precise vergence control in complex scenes
John R. Taylor, Thomas J. Olson · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
In binocular systems, vergence is the process of directing the gaze so that the optical axes intersect at the point of interest. Region based methods of disparity analysis provide fast and reliable estimates of the vergence error. Unfortunately, it is difficult to determine on what image features these approaches are in fact verging. Previous approaches to vergence control have for the most part failed to ensure that both cameras actually verge on the object of interest, especially in complex scenes. This paper presents a system that addresses this problem. By using the cepstral filter in a multiresolution setting with a dominant camera, our system can verge accurately in complex scenes. Specifically, the system adaptively refines the vergence angle in a scale space consisting of the center patches of a Gaussian pyramid. The effects of the cepstrum in a multiresolution system are analyzed, and the precision and performance of the new system are verified on natural scenes.