Real-Time Gaze Holding in Binocular Robot Vision

摘要

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.