Xu De, Li You Fu, Tan Min, Shen Yang
Key Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
IEEE Trans Syst Man Cybern B Cybern. 2008 Apr;38(2):320-30. doi: 10.1109/TSMCB.2007.912082.
In this paper, a new active visual system is developed, which is based on bionic vision and is insensitive to the property of the cameras. The system consists of a mechanical platform and two cameras. The mechanical platform has two degrees of freedom of motion in pitch and yaw, which is equivalent to the neck of a humanoid robot. The cameras are mounted on the platform. The directions of the optical axes of the two cameras can be simultaneously adjusted in opposite directions. With these motions, the object's images can be located at the centers of the image planes of the two cameras. The object's position is determined with the geometry information of the visual system. A more general model for active visual positioning using two cameras without a neck is also investigated. The position of an object can be computed via the active motions. The presented model is less sensitive to the intrinsic parameters of cameras, which promises more flexibility in many applications such as visual tracking with changeable focusing. Experimental results verify the effectiveness of the proposed methods.
本文开发了一种基于仿生视觉且对相机特性不敏感的新型主动视觉系统。该系统由一个机械平台和两个相机组成。机械平台在俯仰和偏航方向上有两个运动自由度，这相当于人形机器人的颈部。相机安装在平台上。两个相机的光轴方向可以同时向相反方向调整。通过这些运动，物体的图像可以位于两个相机图像平面的中心。利用视觉系统的几何信息确定物体的位置。还研究了一种更通用的使用两个无颈部相机进行主动视觉定位的模型。物体的位置可以通过主动运动来计算。所提出的模型对相机的内在参数不太敏感，这在许多应用中如可变聚焦的视觉跟踪中具有更大的灵活性。实验结果验证了所提方法的有效性。
