Intentional control of camera look direction and viewpoint in an active vision system

摘要

This paper discusses specific aspects of the control of an active computer vision system. A prototype control mechanism able to estimate and modify the extrinsic parameters of a single camera has been designed and implemented. The system is capable of continuous and active adjustments of the camera in response to a given visual goal. The implementation of the mechanism takes into account errors in the position of objects stored in the memory of the vision system, and errors due to image segmentation. The advantages and drawbacks of the methods used are discussed, and its performance is demonstrated and quantified in experiments using synthetic and real image data.