The Agile Stereo Pair for active vision

This paper presents a new stereo sensor for active vision. Its cameras are mounted on two independent 2-DOF manipulators, themselves mounted on two translation stages. The system is designed for fast and accurate dynamical adjustments of gaze, vergence, and baseline. A complete description of its software and hardware components is given, including a detailed discussion of its calibration procedure. The performance of the sensor with respect to dynamical properties and measurement accuracy is also demonstrated through both simulations and experiments.

• Type: Journal
• Year: 2006
• Where: MVA
• Authors: Eric Samson, Denis Laurendeau, Marc Parizeau, Sylvain Comtois, Jean-François Allan, Clément Gosselin
• Keywords: Active Vision, Dynamical Adjustments, Independent 2-DOF Manipulators, MVA 2006, MVA 2007