TRICLOPS: a high-performance trinocular active vision system

Author

Wavering, Albert J. ; Fiala, John C. ; Roberts, Karen J. ; Lumia, Ronald

Author_Institution

Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

410

Abstract

The design, performance, and application of the real-time, intelligently controlled, optical positioning system (TRICLOPS) are described. TRICLOPS is a multiresolution trinocular camera-pointing system which provides a center wide-angle view camera and two higher-resolution vergence cameras. It is a four-degree-of-freedom direct-drive system which exhibits dynamic performance comparable to the human visual system. The vergence degrees of freedom can achieve peak velocities in excess of 30 rad/s, and peak accelerations of 1100 rad/s ². In an example of visual tracking, TRICLOPS is shown to be capable of following a ball moving at 3 m/s, with rotational velocities of the vergence axes in excess of 6 rad/s

Keywords

CCD image sensors; cameras; computer vision; image processing equipment; intelligent control; position control; telecontrol; tracking; TRICLOPS; center wide-angle view camera; dynamic performance; four-degree-of-freedom direct-drive system; high-performance; intelligently controlled; multiresolution trinocular camera-pointing system; optical positioning system; robotic vision; telerobotics; tracking; trinocular active vision system; vergence cameras; visual tracking; Cameras; Control systems; Intelligent robots; Lenses; Machine vision; Magnetic heads; NIST; Optical control; Optical design; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292207

Filename

292207