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This thesis presents and evaluates a bio-inspired vision system design to increase the depth field of a stereoscopic ranging imager. Two key attributes of the human vision system are leveraged in this design. The first attribute is image stabilization similar to the inner ear semi-circular canals and neck muscles. To accomplish this, an accelerometer and servos were used to stabilize the imager platform. The second human vision attribute used by the design is the ability to change the focal vector. This is accomplished by a servo that tilts the imagers in unison and separate servos that enable each imager to pan independently. The performance metrics of depth field size and resolution of this method are compared to a system that has statically-mounted imagers and a fixed video platform.
A Thesis submitted to the Department of Electrical and Computer Engineering in partial fulfillment of the requirements for the degree of Master of Science.
Includes bibliographical references.
Victor DeBrunner, Professor Directing Thesis; Rodney Roberts, Committee Member; Simon Foo, Committee Member; Geoffery Brooks, Committee Member.
Florida State University
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