Tracking Objects Using Stereo Vision System with Vergence and Gaze Control Mechanism

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


This paper describes Image-Based (IBVS) and Pose-Based (PBVS) Visual Servo control approaches used in stereo vision system with vergence and gaze control mechanism. Using IBVS or PBVS controller in cameras positioning mechanism ensures that cameras are fixed on a common visual target. Keeping the tracking object fixated causes the images of the target to lie near the principal points of both cameras. For this case disparity of target object is very close to zero, so for 3D reconstruction of target neighborhood, the stereo matching algorithm which accepts only limited range of disparities can be used.


Stereo vision Tracking objects Image-Based Visual Servo Pose-Based Visual Servo Vision-based robot control 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Robot ControlInstitute of Automatic ControlLodzPoland

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