A Novel Mechanism for Stereo Active Vision
نویسندگان
چکیده
This paper deals with the mechanical aspects of robot vision and focuses on the design and implementation of a high-performance system. The system is called CeDAR (Cable Drive Active vision Robot). As part of the research at the Robotic Systems Laboratory (RSL) to develop real-world vision systems, CeDAR is designed for speed and accuracy through its novel use of cables in zerobacklash transmissions and a parallel mechanical architecture. By optimising the design for agility, the system is able to a carry a large payload (700g) while achieving its performance specification of five 90° saccades per second with an angular repeatability of 0.01° in all three axes.
منابع مشابه
Active Animate Stereo Vision
This paper describes recent research concerning the Active Stereo Probe (ASP) stereo vision system that combines animate oculo-motor reflexes with a novel active illumination source. Two methods for accurate surface recovery from stereo at rates approaching real time are described. Results using texture projection combined with a fast sub-pixel matching algorithm are presented. The development ...
متن کاملActive Stereo Vision System with Foveated Wide Angle Lenses
A novel active stereo vision system with a pair of foveated wide angle lenses is presented. The projection curve of the lens is designed so that it facilitates active vision algorithms for motion analysis, object identi cation, and precise xation. A pair of such lenses are mounted on a specially designed active stereo vision platform. It is compact and light so that it can be mounted on a mobil...
متن کاملNovel Visual Sensor System Fusing An Active Trinocular Vision and A Stereo Vision for 3D Range Data Acquisition
One of major research issues associated with 3D range acquisition is the creation of sensor systems with various functionalities and small size. A variety of machine vision techniques have been developed for the determination of 3D scene geometric information from 2D images. As one of active sensors, structured lighting method has been widely used because of its robustness on the illumination n...
متن کاملMonocular Stereo Measurement Using High-Speed Catadioptric Tracking
This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the a...
متن کاملThe Active Stereo Probe: Dynamic Video Feedback
This paper sets out to overview the progress of a binocular robot vision project titled the "Active Stereo Probe" (ASP) and present the novel aspects of an active controllable illumination system to be integrated with a robot vision head now under development
متن کامل