Active Vision - Rectification and Depth Mapping

We present a mapping approach to scene understanding based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification and intuitive representation of the results. The approach is shown to enable the use of any static stereo algorithms with active multi-camera systems. In particular, we show the use of the framework to apply static depthmapping techniques to the active case. Further, we outline the benefits of using an occupancy grid framework for the fusion and representation of range data, and find that it is especially suited for active vision. Finally, we provide a preview of our approach to dynamic occupancy grids for scene understanding.