In this paper, we present a cooperative stereo vision algorithm with three cameras for dense disparity mapping and occlusion detection. Based on nonlinear iteration and multiple cameras, the disparity maps are smooth and the object boundaries are accurate. Occlusions for each stereo pair are detected effectively by examining the iterative inhibition and magnification of the matching evaluation....

We present a biologically inspired active vision system that incorporates two modes of perception. A peripheral mode provides a broad and coarse perception of where mass is in the scene in the vicinity of the current fixation point, and how that mass is moving. It involves fusion of actively acquired depth data into a 3D occupancy grid. A foveal mode then ensures coordinated stereo fixation upo...

I will describe models and algorithms for the real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from color/contrast or from stereo alone is known to be error-prone. Here, color, contrast and stereo matching information are fused to infer layers accurately and efficiently. The stereo-match likelihood is then fused with a contras...

We consider the problem of performing simultaneous localization and mapping (SLAM) with a stereo vision sensor, where image features are matched and triangulated for use as landmarks. We explain how we obtain landmark measurements from image features, and describe them with a Gaussian noise model for use with a Rao-Blackwellized particle filter-based SLAM algorithm called FastSLAM. This algorit...

The human eye-brain system is responsible for the highest percentage of sensory data from the environment. A major part of this system which is unique to all predator species (including man) is the ability to perceive distance of various objects using their two eyes. This is one of the primary reasons that man and other predators have both their eyes on the same side of their head (i.e. front) ...

83 Abstract— Image segmentation is always a challenging task in computer vision as well as in pattern recognition. Nowadays, this method has great importance in the field of stereo vision. The disparity information extracting from the binocular image pairs has essential relevance in the fields like Stereoscopic (3D) Imaging Systems, Virtual Reality and 3D Graphics. The term 'disparity' represen...