Society of Photo-Optical Instrumentation Engineers
Abstract
This paper describes a vergence control algorithm for a 3D stereo recovery system. This work has been developed within
framework of the project ROBTET. This project has the purpose of designing a Teleoperated Robotic System for live power
lines maintenance. The tasks involved suppose the automatic calculation of path for standard tasks, collision detection to
avoid electrical shocks, force feedback and accurate visual data, and the generation of collision free real paths. To
accomplish these tasks the system needs an exact model of the environment that is acquired through an active stereoscopic
head. A cooperative algorithm using vergence and stereo correlation is shown. The proposed system is carried out through
an algorithm based on the phase correlation, trying to keep the vergence on the interest object. The sharp vergence changes
produced by the variation of the interest objects are controlled through an estimation of the depth distance generated by a
stereo correspondence system. In some elements of the scene, those aligned with the epipolar plane, large errors in the depth
estimation as well as in the phase correlation, are produced. To minimize these errors a laser lighting system is used to help
fixation, assuring an adequate vergence and depth extraction .The work presented in this paper has been supported by electric utility IBERDROLA, S.A. under project PIE No. 132.198