DocumentCode :
2462504
Title :
Head-centered orientation strategies in animate vision
Author :
Grosso, Enrico ; Ballard, Dana H.
Author_Institution :
Dept. of Comput. Sci., Rochester Univ., NY, USA
fYear :
1993
fDate :
11-14 May 1993
Firstpage :
395
Lastpage :
402
Abstract :
The authors consider orienting, that is, establishing and maintaining a spatial relation between a motorized pair of cameras (the eye-head system) and a static or a moving object tracked over time. Motivated by physiological evidence, they propose a simple set of vision-based strategies aimed to perform head, eye, and body movements in a complex environment. Fixation is shown to be an essential feature in visual servoing, and is used to decouple control on head rotational degrees of freedom, making possible a metric-less approach to the orientation problem. An implementation of these strategies, using a binocular camera system mounted on a PUMA 700 robotic system, demontrated the effectiveness of the approach
Keywords :
active vision; computer animation; computer vision; motion estimation; PUMA 700 robotic system; animate vision; binocular camera system; body movements; complex environment; eye-head system; head centered orientation strategies; motorized pair of cameras; moving object; orientation problem; physiological evidence; spatial relation; vision-based strategies; Animation; Books; Cameras; Computer science; Councils; Eyes; Humans; Robot kinematics; Robot vision systems; Workstations;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision, 1993. Proceedings., Fourth International Conference on
Conference_Location :
Berlin
Print_ISBN :
0-8186-3870-2
Type :
conf
DOI :
10.1109/ICCV.1993.378188
Filename :
378188
Link To Document :
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