Image content-based active sensor planning for a mobile trinocular active vision system

In this paper, we present a sensor planning approach for a mobile trinocular active vision system. At the stationary state (i.e., no motion) the sensor planning system calculates the generalized cameras´ parameters (i.e., translational distance from the center, zoom, focus and vergence) using deterministic geometric specifications of both the sensors and the objects in their field of view. Some of these geometric parameters are difficult to be predetermined for the mobile system operation. In this paper, a new sensor planning approach, based on processing the content of the captured images, is proposed. The approach uses a combination of a closed-form solution for the translation between the three cameras, the vergence angle of the cameras as well as zoom and focus settings with the results of the correspondences between the acquired images and a predefined target object(s) obtained using the SIFT algorithm. We demonstrate the accuracy of the new approach using practical experiments.