A multi-focal high-performance vision system

A novel multi-focal four camera vision system is presented. The dynamic performance reaches velocities and accelerations exceeding far beyond human capabilities. Extreme wide-angle aperture angles to narrow foveated are provided simultaneously and are independently controllable. The vision system is designed in the context of the new development of the successor model of the humanoid robot Johnnie targeting at real-world wide distance range applications. This paper presents the design, kinematic and perception models, and mechatronical integration. The dynamic performance is evaluated in experiments. A novel multi-camera view direction stabilization strategy is presented and experimentally validated