Real-Time Gaze Holding in Binocular Robot Vision

Abstract

Using a binocular, maneuverable visual system, a robot that holds its gaze on a visual target can enjoy improved visual perception and performance in interacting with the world. This dissertation examines the problem of holding gaze on a moving object from a moving platform, without requiring the ability to recognize the target. A novel aspect of the approach taken is the use of controlled camera movements to simplify the visual processing necessary to keep the cameras locked on the target. A gaze holding system on the Rochester robot's binocular head demonstrates this approach. Even while the robot is moving, the cameras are able to track an object that rotates and moves in three dimensions.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1992
Accession Number
ADA256226

Entities

People

  • David J. Coombs

Organizations

  • University of Rochester

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Artificial Intelligence Software
  • Closed Loop Systems
  • Computational Science
  • Computer Science
  • Computer Vision
  • Control Systems
  • Coordinate Systems
  • Image Processing
  • Information Science
  • Kalman Filters
  • Mathematical Filters
  • Open Loop Systems
  • Pattern Recognition
  • Processing Equipment
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Artificial Intelligence
  • Electrical Engineering
  • Human-Computer Interaction (HCI).

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy