A Binocular, Foveated Active Vision System

Abstract

: This report documents the design and implementation of a binocular, foveated active vision system as part of the Cog project at the MIT Artificial Intelligence Laboratory. The active vision system features a 3 degree of freedom mechanical platform that supports four color cameras, a motion control system, and a parallel network of digital signal processors for image processing. To demonstrate the capabilities of the system, we present results from four sample visual-motor tasks. The author receives support from a National Defense Science and Engineering Graduate Fellowship. Support for this project is provided in part by an ONR/ARPA Vision MURI Grant (No. N00014-95-1-0600). 1 Introduction The Cog Project at the MIT Artificial Intelligence Laboratory has focused on the construction of an upper torso humanoid robot, called Cog, to explore the hypothesis that human-like intelligence requires human-like interactions with the world (Brooks & Stein 1994). Cog has sensory and motor system...