Real-time visuomotor update of an active binocular head

Michael Sapienza 1 Miles Hansard 2, 3 Radu Horaud 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
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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https://hal.inria.fr/inria-00608769
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Submitted on : Thursday, July 14, 2011 - 7:05:00 PM
Last modification on : Monday, April 9, 2018 - 12:22:27 PM
Long-term archiving on : Monday, November 12, 2012 - 11:05:30 AM

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Michael Sapienza, Miles Hansard, Radu Horaud. Real-time visuomotor update of an active binocular head. [Research Report] RR-7682, 2012. ⟨inria-00608769v1⟩

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