Autonomous Robots

, Volume 34, Issue 1, pp 35–45

Real-time visuomotor update of an active binocular head


    • Department of Systems and Control EngineeringUniversity of Malta
  • Miles Hansard
    • School of Electronic Engineering and Computer Science, Queen MaryUniversity of London
  • Radu Horaud
    • INRIA Grenoble Rhône-Alpes

DOI: 10.1007/s10514-012-9311-2

Cite this article as:
Sapienza, M., Hansard, M. & Horaud, R. Auton Robot (2013) 34: 35. doi:10.1007/s10514-012-9311-2


In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimates of the camera orientations, estimated in an offline stage. Following this, a fast online procedure is presented to update the calibration of an active binocular camera pair. The proposed approach is ideal for active vision applications because no image-processing is needed at runtime for the scope of calibrating the system or for maintaining the calibration parameters during camera vergence. We show that this homography-based technique allows an active binocular robot to fixate and track an object, whilst performing 3D reconstruction concurrently in real-time.


Real-time visionActive binocular visionVisual tracking3D reconstruction

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© Springer Science+Business Media, LLC 2012