A modular robotic platform for visual perception and computational photography

In this paper we introduce a Modular Snakelike Robot designed to satisfy a variety of visual perception tasks. We first explain the novel modular design of the robotic platform to cover the necessary perception strategies proposed to capture the visual information of the scene. The visual model proposed is based on the plenoptic Light Field (LF) captured with the platform. We provide examples for depth estimation and computational photography techniques using the modular robot. The perception and computational photography applications of the proposed platform include Synthetic Aperture, Synthetic Refocusing, Image Stitching and Depth Estimation.