Stereoscopic vergence control and horizontal tracking using biologically inspired filters

Persistent Link:
http://hdl.handle.net/10150/278745
Title:
Stereoscopic vergence control and horizontal tracking using biologically inspired filters
Author:
Schwager, Michael Anthony
Issue Date:
2000
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
One of the requirements of enabling a robot to see in 3D is to move its gaze to match the target. Vergence is the disconjugate horizontal rotation of the cameras to move their gaze over the target. Tracking is the conjugate rotation. The difference in the two images captured by stereoscopic cameras (disparity), is a sufficient measure to accomplish both of these tasks. We reviewed studies of how cat visual cortex measures disparity, combined this disparity-energy model with neurophysiological models of vergence control, and developed a system which also controls horizontal tracking. Experiments confirm the operation of the system with software and inexpensive custom hardware. An architecture is presented for the implementation of this project in analog VLSI hardware, and will show a high degree of parallelism, low power consumption, real-time operation, flexibility and scalability. We discuss how to compare this vision system with others.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Engineering, Electronics and Electrical.; Computer Science.
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Electrical and Computer Engineering
Degree Grantor:
University of Arizona
Advisor:
Higgins, Charles M.

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleStereoscopic vergence control and horizontal tracking using biologically inspired filtersen_US
dc.creatorSchwager, Michael Anthonyen_US
dc.contributor.authorSchwager, Michael Anthonyen_US
dc.date.issued2000en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractOne of the requirements of enabling a robot to see in 3D is to move its gaze to match the target. Vergence is the disconjugate horizontal rotation of the cameras to move their gaze over the target. Tracking is the conjugate rotation. The difference in the two images captured by stereoscopic cameras (disparity), is a sufficient measure to accomplish both of these tasks. We reviewed studies of how cat visual cortex measures disparity, combined this disparity-energy model with neurophysiological models of vergence control, and developed a system which also controls horizontal tracking. Experiments confirm the operation of the system with software and inexpensive custom hardware. An architecture is presented for the implementation of this project in analog VLSI hardware, and will show a high degree of parallelism, low power consumption, real-time operation, flexibility and scalability. We discuss how to compare this vision system with others.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectEngineering, Electronics and Electrical.en_US
dc.subjectComputer Science.en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorHiggins, Charles M.en_US
dc.identifier.proquest1402029en_US
dc.identifier.bibrecord.b41166152en_US
All Items in UA Campus Repository are protected by copyright, with all rights reserved, unless otherwise indicated.