NEW DYNAMIC ESTIMATION OF DEPTH FROM FOCUS IN ACTIVE VISION SYSTEMS - Data Acquisition, LPV Observer Design, Analysis and Test

Tiago Gaspar, Paulo Oliveira

Abstract

In this paper, new methodologies for the estimation of the depth of a generic moving target with unknown dimensions, based upon depth from focus strategies, are proposed. A set of measurements, extracted from real time images acquired with a single pan and tilt camera, is used. These measurements are obtained resorting to the minimization of a new functional, deeply rooted on optical characteristics of the lens system, and combined with additional information extracted from images to provide estimates for the depth of the target. This integration is performed by a Linear Parameter Varying (LPV) observer, whose syntesis and analysis are also detailed. To assess the performance of the proposed system, a series of indoor experimental tests, with a real target mounted on a robotic platform, for a range of operation of up to ten meter, were carried out. A centimetric accuracy was obtained under realistic conditions.

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Paper Citation


in Harvard Style

Gaspar T. and Oliveira P. (2011). NEW DYNAMIC ESTIMATION OF DEPTH FROM FOCUS IN ACTIVE VISION SYSTEMS - Data Acquisition, LPV Observer Design, Analysis and Test . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 484-491. DOI: 10.5220/0003356904840491


in Bibtex Style

@conference{visapp11,
author={Tiago Gaspar and Paulo Oliveira},
title={NEW DYNAMIC ESTIMATION OF DEPTH FROM FOCUS IN ACTIVE VISION SYSTEMS - Data Acquisition, LPV Observer Design, Analysis and Test},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={484-491},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003356904840491},
isbn={978-989-8425-47-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - NEW DYNAMIC ESTIMATION OF DEPTH FROM FOCUS IN ACTIVE VISION SYSTEMS - Data Acquisition, LPV Observer Design, Analysis and Test
SN - 978-989-8425-47-8
AU - Gaspar T.
AU - Oliveira P.
PY - 2011
SP - 484
EP - 491
DO - 10.5220/0003356904840491