Title :
Using Dynamic Optimization for Reproducing the Chameleon Visual System
Author :
Avni, Ofir ; Borrelli, Francesco ; Katzir, Gadi ; Rivlin, Ehud ; Rotstein, Hector
Author_Institution :
Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa
Abstract :
This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented
Keywords :
control system synthesis; predictive control; robot vision; target tracking; chameleon visual system; dynamic optimization; minimum-time model predictive control; pan-tilt cameras; robotic chameleon head; robust target tracking; Cameras; Eyes; Motion control; Neck; Predictive control; Predictive models; Robot vision systems; Robust control; Target tracking; Visual system;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376907
