Vector Disparity Sensor with Vergence Control for Active Vision Systems 英文参考文献.docVIP

Sensors2012,12,1771-1799;doi:10.3390/s120201771 OPENACCESS sensors ISSN1424-8220 /journal/sensors Article VectorDisparitySensorwithVergenceControlforActive VisionSystems FranciscoBarranco 1,?,JavierDiaz 1 2 2 1 ,AgostinoGibaldi ,SilvioP.Sabatini andEduardoRos 1 DepartmentofComputerArchitectureandTechnology,CITIC,ETSIIT,UniversityofGranada, C/DanielSaucedoArandas/n,E18071,Granada,Spain;E-Mails:jdiaz@atc.ugr.es(J.D.); eduardo@atc.ugr.es(E.R.) 2 PSPCGroup,DepartmentofBiophysicalandElectronicEngineering(DIBE),UniversityofGenoa, ViaOperaPia11A,I-16145,Genoa,Italy;E-Mails:agostino.gibaldi@unige.it(A.G.); silvio.sabatini@unige.it(S.P.S.) ? Authortowhomcorrespondenceshouldbeaddressed;E-Mail:fbarranco@atc.ugr.es; Tel.:+34-95-824-1775;Fax:+34-95-824-8993. Received:28December2011;inrevisedform:18January2012/Accepted:7February2012/ Published:9February2012 Abstract:Thispaperpresentsanarchitectureforcomputingvectordisparityforactivevision systemsasusedonroboticsapplications. Thecontrolofthevergenceangleofabinocular systemallowsustoef?cientlyexploredynamicenvironments,butrequiresageneralization of the disparity computation with respect to a static camera setup, where the disparity is strictly1-Daftertheimagerecti?cation. Theinteractionbetweenvisionandmotorcontrol allowsustodevelopanactivesensorthatachieveshighaccuracyofthedisparitycomputation aroundthe?xationpoint,andfastreactiontimeforthevergencecontrol.Inthiscontribution, weaddressthedevelopmentofareal-timearchitectureforvectordisparitycomputationusing an FPGA device. We implement the disparity unit and the control module for vergence, version,andtilttodeterminethe?xationpoint.Inaddition,twoon-chipdifferentalternatives forthevectordisparityenginesarediscussedbasedontheluminance(gradient-based)and phase information of the binocular images. The multiscale versions of these engines are abletoestimatethevectordisparityupto32fpsonVGAresolutionimageswithverygood accuracyasshownusingbenchm