Autonomous Robots

, Volume 34, Issue 1–2, pp 35–45

Real-time visuomotor update of an active binocular head


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 vision Active binocular vision Visual tracking 3D reconstruction 

Supplementary material

(MPG 9.0 MB)

Copyright information

© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  1. 1.Department of Systems and Control EngineeringUniversity of MaltaMsida MSDMalta
  2. 2.School of Electronic Engineering and Computer Science, Queen MaryUniversity of LondonLondonUK
  3. 3.INRIA Grenoble Rhône-AlpesMontbonnotFrance

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