Gaze control in a binocular robot systems

摘要

This article examines the problem of gaze control on a moving object manipulating the degrees of freedom of an active platform, without requiring the ability to recognise the target. Following the theoretical framework established by the active vision paradigm, the CVC-II head-eye system which is an anthropomorphic head with 6 optical and 4 mechanical degrees of freedom formed by standard components has been designed and developed. Generality, reliability and real-time performance are the main goals of the algorithms to control each of the basic visual processes. The designed strategy of these processes are based on several aspects of the biologic visual system, binocular geometry and motion decomposition. Finally, we build a mobile platform, Guidebot, to experiment with some of higher visual tasks such as time to contact, navigation and moving target tracking.