A High-Performance Camera Platform for Real-Time Active Vision

  • Andrew Brooks
  • Glenn Dickins
  • Alexander Zelinsky
  • Jon Kieffer
  • Samer Abdallah
Conference paper


While active vision is a relatively new approach to computer vision, it offers impressive computational benefits for scene analysis in realistic environments. This paper describes a novel camera platform for the real-time, real-world application of active vision in robots. Requirements for performance are presented as are the figures actually achieved, along with an alternative, task-based method of specifying active visual system abilities. Details of the platform’s cable drive transmission mechanism are provided as well as the advantages given by this scheme. Finally, research directions involving this platform are discussed.


Mobile Robot Video Frame Active Vision Stereo Vision System Binocular Stereo 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [Appenzeller et al., 1097a]
    G. Appenzeller, Y. Kunii, and H. Hashimoto. A low-cost real-time stereo vision system for looking at people. In Proc. International Symposium on Industrial Electronics, Guimarães, Portugal, July 1997. IEEE.Google Scholar
  2. [Appenzeller et al., 1997b]
    G. Appenzeller, J.-H. Lee, and H. Hashimoto. Building topological maps by looking at people: An example of cooperation between intelligent spaces and robots. In Proc. International Conference on Intelligent Robots and Systems, Grenoble, France, November 1997.Google Scholar
  3. [Ballard, 1991]
    D. H. Ballard. Animate vision. Artificial Intelligence, 48:57–86, 1991.CrossRefGoogle Scholar
  4. [Brooks and Stein, 1993]
    R. A. Brooks and L. A. Stein. Building brains for bodies. MIT AI Laboratory AI Memo No. 1439, 1993.Google Scholar
  5. [Clark and Perrier, 1993]
    J. J. Clark and N. J. Ferrier. Attentive visual servoing. In A. Blake and A. L. Yuillc, editors, Active Vision, pages 137–154. MIT Press, 1993.Google Scholar
  6. [Kuniyoshi et al., 1995]
    Y. Kuniyoshi, N. Kita, S. Rougeaux, and T. Suehiro. Active stereo vision system with foveated wide angle lenses. In Proc. Asian Conference on Computer Vision, Singapore, 1995.Google Scholar
  7. [Murray et al., 1993]
    D. W. Murray, F. Du, P. F. McLauchlan, I. D. Rcid, P. M. Sharkey, and M. Brady. Design of stereo heads. In A. Blake and A. L. Yuille, editors, Active Vision, pages 155–172. MIT Press, 1993.Google Scholar
  8. [Pahlavan and Eklundh, 1992]
    K. Pahlavan and J.-O. Eklundh. A head-eye system — analysis and design. Computer Vision, Graphics and Image Processing: Image Understanding, 56(1):41–56, 1992.MATHGoogle Scholar
  9. [Sharkey et al., 1993]
    P. M. Sharkey, D. W. Murray, S. Vandevelde, I. D. Reid, and P. F. McLauchlan. A modular head/eye platform for real-time reactive vision. Mechatronics, 3(4):517–535, 1993.CrossRefGoogle Scholar
  10. [Torrance, 1995]
    M. C. Torrance. Advances in human-computer interaction: The intelligent room. In Proc. CHI’95 Research Symposium, Denver, Colorado USA, May 1995.Google Scholar
  11. [Townsend and Salisbury, 1993]
    W. T. Townsend and J. K. Salisbury. Mechanical design for whole-arm manipulation. Robots and Biological Systems: Toward a New Bionics?, pages 153–164, 1993.Google Scholar
  12. [Townsend, 1988]
    W. T. Townsend. The effect of transmission design on force-controlled manipulator performance. PhD thesis published as AI-TR-1054, MIT Artificial Intelligence Laboratory, April 1988.Google Scholar

Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • Andrew Brooks
    • 1
  • Glenn Dickins
    • 1
  • Alexander Zelinsky
    • 1
  • Jon Kieffer
    • 2
  • Samer Abdallah
    • 2
  1. 1.Robotic Systems Laboratory, Research School of Information Sciences and EngineeringThe Australian National UniversityCanberraAustralia
  2. 2.Department of Engineering, Faculty of Engineering and Information TechnologyThe Australian National UniversitymCanberraAustralia

Personalised recommendations