Preliminary design and experimental tests of a real-time stereoscopic foveated vision system

Abstract

This article describes the preliminary tests conducted on a real-time vision system for a humanoid robot with foveated stereoscopic vision. Two high performance camera models were tested to validate the proposal. The system is designed with the Debian Preempt RT as its real-time operating system. A cyclical algorithm is used to acquire statistical data from our system and to show its real time behavior. The experimental results illustrate the satisfactory performance of the vision system.