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Real-time Visuomotor Update of an Active Binocular Head

Michael Sapienza 1 Miles Hansard 2 Radu Horaud 3, * 
* Corresponding author
3 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimates of the camera orientations, estimated in an offline stage. Following this, a fast online procedure is presented to update the calibration of an active binocular camera pair. The proposed approach is ideal for active vision applications because no image-processing is needed at runtime for the scope of calibrating the system or for maintaining the calibration parameters during camera vergence. We show that this homography-based technique allows an active binocular robot to fixate and track an object, whilst performing 3D reconstruction concurrently in real-time.
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Submitted on : Saturday, December 22, 2012 - 6:18:42 PM
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Michael Sapienza, Miles Hansard, Radu Horaud. Real-time Visuomotor Update of an Active Binocular Head. Autonomous Robots, 2013, 34 (1), pp.33-45. ⟨10.1007/s10514-012-9311-2⟩. ⟨hal-00768615v2⟩



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