Abstract

ABSTRACT Three-dimensional (3D) position estimation using a single passive sensor, particularly vision, has frequently sufferedfrom unreliability and has involved complex processing methods. Past research has combined vision with otheractive sensors in which the emphasis has been on data fusion. This paper attempts to integrate multiple passive3D cues - camera focus, camera vergence and stereo disparity - using a single sensor. We argue that in the activevision paradigm an estimate of the position is obtained in the process of fixation in which the imaging parametersare dynamically controlled to direct the attention of the imaging system at the point of interest. Fixation involvesintegration of the passive cues in a mutually consistent way in order to overcome the deficiencies of any individualcue and to reduce the complexity of processing. Taking into account their reliabilities, the individual positionestimates from the different cues are combined to form a final, overall estimate. 1

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