A Novel Convergence Control Method for Toed-in Stereo Camera Systems

Abstract

In this paper, we present a novel convergence control method for toed-in stereo camera systems. The proposed method automatically computes a convergence angle for both (i.e., left and right) cameras to locate a target object at image center. Unlike other image based auto-convergence algorithms, the proposed method aims at controlling the angle of yaw of stereo camera, and thus makes a disparity of the target object be zero while capturing stereoscopic images. The proposed algorithm is based on the fact that an object at convergence position has a zero-disparity in stereoscopic images under the toed-in camera conguration. As a result, we can avoid the accommodation-convergence conict while watching the target object in stereoscopic images. Experimental results demonstrate that the proposed method eectively estimates convergence angles for target objects at dierent distances.