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Open AccessArticle

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

Department of System Cybernetics, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
Author to whom correspondence should be addressed.
Sensors 2017, 17(8), 1839;
Received: 7 July 2017 / Revised: 4 August 2017 / Accepted: 5 August 2017 / Published: 9 August 2017
(This article belongs to the Special Issue Imaging Depth Sensors—Sensors, Algorithms and Applications)
This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the active vision system can function virtually as two or more tracking cameras with different views. It enables a single active vision system to act as virtual left and right pan-tilt cameras that can simultaneously shoot a pair of stereo images for the same object to be observed at arbitrary viewpoints by switching the direction of the mirrors of the active vision system frame by frame. We developed a monocular galvano-mirror-based stereo tracking system that can switch between 500 different views in a second, and it functions as a catadioptric active stereo with left and right pan-tilt tracking cameras that can virtually capture 8-bit color 512 × 512 images each operating at 250 fps to mechanically track a fast-moving object with a sufficient parallax for accurate 3D measurement. Several tracking experiments for moving objects in 3D space are described to demonstrate the performance of our monocular stereo tracking system. View Full-Text
Keywords: high-speed vision; stereo tracking; catadioptric stereo; viewpoint switching; multithread active vision high-speed vision; stereo tracking; catadioptric stereo; viewpoint switching; multithread active vision
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Hu, S.; Matsumoto, Y.; Takaki, T.; Ishii, I. Monocular Stereo Measurement Using High-Speed Catadioptric Tracking. Sensors 2017, 17, 1839.

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