Performance Analysis of Stereo, Vergence, and Focus as Depth Cues for Active Vision

Subhodev Das, Subhodev Das, Narendra Ahuja

Research output: Contribution to journalArticlepeer-review


This paper compares the performances of the binocular cues of stereo and vergence, and the monocular cue of focus for range estimation using an active vision system. The performance of each cue is characterized in terms of sensitivity to errors in the imaging parameters. The effects of random, quantization errors are expressed in terms of the standard deviation of the resulting depth error. The effect of systematic, calibration errors on estimation using each cue is also studied. Performance characterization of each cue is utilized to evaluate the relative performance of the cues. Also discussed, based on such characterization, are ways to select a cue taking into account the computational and reliability aspects of the corresponding estimation process.

Original languageEnglish (US)
Pages (from-to)1213-1219
Number of pages7
JournalIEEE transactions on pattern analysis and machine intelligence
Issue number12
StatePublished - Dec 1995


  • Active vision
  • performance evaluation
  • range from focus
  • range from stereo
  • range from vergence
  • uncertainty analysis

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics


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