Experimenting 3D vision on a robotic head

Abstract

We attempt to build a vision system that will allow dynamic 3D-perception of objects of interest. More specifically, we discuss the idea of using 3D visual cues when tracking a visual target, in order to recover some of its 3D characteristics. The experimentation reported corresponds to an implementation of these general ideas by considering a calibrated robotic head. We analyse how to make use of such a system for: (1) detecting 3D-objects of interest, (2) recovering the average depth and size of the tracked objects, and (3) fixating and tracing such objects to facilitate their observation.