Depth perception using focus with hand-eye robotic system

The authors explore focus to obtain depth or structure perception of the world. They propose to vary the degree of focusing by moving the camera with respect to the object position. In this case the camera is attached to the tool of a manipulator in a hand-eye configuration with the position of the camera always known. This approach ensures that the focused areas of the images are always subjected to the same magnification. To measure the focus quality, operators are used to quantify the high-frequency content of the image. Different types of operators were tested and the results compared.