Real-time visuomotor update of an active binocular head
- 388 Downloads
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.
KeywordsReal-time vision Active binocular vision Visual tracking 3D reconstruction
(MPG 9.0 MB)
- Aryananda, L., & Weber, J. (2004). MERTZ: A quest for a robust and scalable active vision humanoid head robot. In Proc. IEEE/RAS int. conf. on humanoid robots (pp. 513–532). Google Scholar
- Beira, R., Lopes, M., Praga, M., Santos-Victor, J., Bernardino, A., Metta, G., Becchi, F., & Saltaren, R. (2006). Design of the robot-cub (icub) head. In Proc. IEEE int. conf. on robotics and automation (pp. 94–100). Google Scholar
- Frintrop, S., & Jensfelt, P. (2008). Active gaze control for attentional visual SLAM. In Proc. IEEE int. conf. robotics and automation (pp. 3690–3697). Google Scholar
- Harris, C., & Stephens, M. (1988). A combined corner and edge detector. In Proc. 4th alvey vision conference (pp. 147–151). Google Scholar
- Hart, J., Scassellati, B., & Zucker, S. (2002). Epipolar geometry for humanoid robotic heads. In Proc. 7th int. workshop on advanced motion control (pp. 567–572). Google Scholar
- POP Consortium (2008). Perception on purpose. European Project FP6-IST-2004-027268. http://perception.inrialpes.fr/POP/.