An analysis of depth estimation within interaction range
- Resource Type
- Conference
- Authors
- Karaoguz, Cem; Dankers, Andrew; Rodemann, Tobias; Dunn, Mark
- Source
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. :3207-3212 Oct, 2010
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Communication, Networking and Broadcast Technologies
Computing and Processing
Cameras
Estimation error
Accuracy
Pixel
Machine vision
Grasping
- Language
- ISSN
- 2153-0858
2153-0866
Interactions between humans or humanoids and their environment through tasks like grasping or manipulation typically require accurate depth information. The human vision system integrates various monocular and binocular depth estimation mechanisms in order to achieve robust and reliable depth perception. Such an integrated approach can be applied to humanoid depth perception. Integration requires a knowledge of the characteristics of the methods being combined. Three different methods incorporating active vision (stereo disparity, vergence and familiar size) were statistically examined and combinations of these methods based on this statistical examination were investigated. We found evidence that active vision provides better depth estimations than the standard static-parallel stereo methods examined within interaction range and therefore is better suited for tasks like reaching, grasping and manipulation. We also demonstrate that a combination of methods have the potential to increase the accuracy of estimations.