An Active System for Visually-Guided Reaching in 3D across Binocular Fixations

Figure 4

Graphical description of the phase-based binocular disparity estimation (PBBDE) approach: from a captured stereo image pair, an 𝑛-level image pyramid is built such that a spatial filter is applied to each level for noise reduction. Then, for each level, the images are filtered with a set of eight complex-valued Gabor filters, followed by a phase difference estimation and a following disparity estimation. Finally, the obtained disparity is integrated with the disparity map obtained in the previous level.