Real-Time Vergence Control

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Abstract
Binocular robots whose cameras can be independently directed require some mechanism for aiming both cameras at the same world point. We describe a mechanism for verging the cameras of the Rochester Robot in real time. The mechanism consists of a discrete control loop driven by an algorithm that estimates a single disparity from the two cameras. We present two algorithms for disparity estimation. The first uses the cepstral-transform approach of Yeshurun and Schwartz (1987). We argue that in this application the cepstrum is best understood as autocorrelation with an adaptive filter that acts to sharpen peaks in the autocorrelation image. We show that qualitatively similar filters have similar effects, with limiting case being equivalent to deconvolution. We describe efficient real-time implementations of the cepstral and deconvolution approaches.

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