Reciprocal-wedge transform in active stereo

The Reciprocal-Wedge Transform (RWT) facilitates space-variant image repres entation. In this paper a V-plane projection method is presented as a model for imaging using the RWT. It is then shown that space-variant sensing wit h this new RWT imaging model is suitable for fixation control in active ste reo that exhibits vergence and versional eye movements and scanpath behavio rs. A computational interpretation of stereo fusion in relation to disparit y limit in space-variant imagery leads to the development of a computationa l model for binocular fixation. The vergence-version movement sequence is i mplemented as an effective fixation mechanism using the RWT imaging. A fixa tion system is presented to show the various modules of camera control, ver gence and version.