Active 3-D vision on a humanoid head
Aleš Ude, Erhan Öztop · International Conference on Advanced Robotics · 2009
In this paper we describe and experimentally evaluate how to model, control, and use the capabilities of a humanoid visual system with foveated vision. We present a computational process that can be utilized to identify and update the parameters of the robot's eyes under motion, which enables the use of 3-D vision on an active humanoid head. We also derive the formulas expressing the geometry of our foveated vision setup. Based on these results we can actively control the eye gaze towards the potential regions of interest and analyze these areas using foveation and 3-D vision processing. Experimental results showing the accuracy of the system are provided. The system has been demonstrated to be sufficiently accurate to realize grasping using active 3-D vision.