Real-time smooth pursuit tracking for a moving binocular robot

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>