Wearable visual robots

摘要

This paper presents a wearable active visual sensor which is able to achieve a level of decoupling of camera movement from the wearer's posture and motions. This decoupling is achieved by a combination of active sensing, inertial information and visual sensor feedback. The issues of sensor placement, robot kinematics and their relation to wearability are discussed. The performance of the prototype robot is evaluated for some essential visual tasks. The paper also discusses potential application scenarios for this kind of wearable robot.