Monocular passive range sensing using defocus information

Defocused monocular views of three-dimensional objects can be used to provide useful range information. In the sensing method presented in this paper two monocular views one highly defocused and the other well-focused are recorded and processed to yield multi-resolution estimates of range information. This method exploits all available a priori information relating to the topological and photometric properties of the object. Results of simulations using synthetic opaque objects are presented.