Abstract
The problem of a moving robot tracking a moving object with its
cameras, without requiring the ability to recognize the target to
distinguish it from distracting surroundings, is examined. A novel
aspect of the approach taken is the use of controlled camera movements
to simplify the visual processing necessary to keep the cameras locked
on the target. A gaze-holding system implemented on a robot's binocular
head demonstrates this approach. Even while the robot is moving, the
cameras are able to track an object that rotates and moves in three
dimensions. The central idea is that localizing attention on 3D space
makes simple precategorical visual processing sufficient to hold gaze
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