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

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Advanced, Contemporary Control

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

Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Robot Control, Institute of Automatic Control, ul. B. Stefanowskiego 18/22, 90-924, Lodz, Poland

    Przemysław Szewczyk

Authors
  1. Przemysław Szewczyk
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Correspondence to Przemysław Szewczyk .

Editor information

Editors and Affiliations

  1. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Andrzej Bartoszewicz

  2. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Jacek Kabziński

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Szewczyk, P. (2020). Tracking Objects Using Stereo Vision System with Vergence and Gaze Control Mechanism. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_41

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