# Active Perception with A Monocular Camera for Multiscopic Vision

arXiv: https://arxiv.org/abs/2001.08212 · HTML: https://mlsanity.com/paper/2001.08212/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jan 2020.

## Built on by (most cited first, 1 of 1)

- [Stereo Matching by Self-supervision of Multiscopic Vision](https://mlsanity.com/paper/2104.04170/) (2021)

## Abstract (arXiv)

We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation for robotic applications. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system actively controls a robot arm with a mounted camera to capture a sequence of images in horizontally or vertically aligned positions with the same parallax. In this system, we combine the cost volumes for stereo matching between the reference image and the surrounding images to form a fused cost volume that is robust to outliers. Experiments on the Middlebury dataset and real robot experiments show that our obtained disparity maps are more accurate than two-frame stereo matching: the average absolute error is reduced by 50.2% in our experiments.