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A New Active Visual System for Humanoid Robots

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4 Author(s)
De Xu ; Chinese Acad. of Sci., Beijing ; You Fu Li ; Min Tan ; Yang Shen

In this paper, a new active visual system is developed, which is based on bionic vision and is insensitive to the property of the cameras. The system consists of a mechanical platform and two cameras. The mechanical platform has two degrees of freedom of motion in pitch and yaw, which is equivalent to the neck of a humanoid robot. The cameras are mounted on the platform. The directions of the optical axes of the two cameras can be simultaneously adjusted in opposite directions. With these motions, the object's images can be located at the centers of the image planes of the two cameras. The object's position is determined with the geometry information of the visual system. A more general model for active visual positioning using two cameras without a neck is also investigated. The position of an object can be computed via the active motions. The presented model is less sensitive to the intrinsic parameters of cameras, which promises more flexibility in many applications such as visual tracking with changeable focusing. Experimental results verify the effectiveness of the proposed methods.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:38 ,  Issue: 2 )