This paper presents a novel approach for object tracking with a humanoid robot head. The proposed approach is based on the concept of a virtual mechanism, where the real head is enhanced with a virtual link that connects the eye with a point in three-dimensional space. We tested our
implementation on a humanoid head with 7 d.o.f. and two rigidly connected cameras in each eye (wide-angle and telescopic). The experimental results show that the proposed control algorithm can be used to maintain the view of an observed object in the foveal (telescopic) image using information
from the peripheral view. Unlike other methods proposed in the literature, our approach indicates how to exploit the redundancy of the robot head. The proposed technique is systematic and can be easily implemented on different types of active humanoid heads. The results show good tracking
performance regardless of the distance between the object and the head. Moreover, the uncertainties in the kinematic model of the head do not affect the performance of the system.
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ACTIVE STEREO VISION;
Document Type: Research Article
Jozef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia
Jozef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia; ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai, Seika-cho, Sokaro-gun, Kyoto 619-0288, Japan
Publication date: 2010-11-01