Design and control of active vision based mechanisms for intelligent robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a design of an active vision system for intelligent robot application purposes. The system has the degrees of freedom of pan, tilt, vergence, camera height adjustment and baseline adjustment with a hierarchical control system structure. Based on this vision system, we discuss two problems involved in the binocular gaze stabilization process. They are fixation point selection, vergence disparity extraction A hierarchical approach to determining point of fixation from potential gaze targets using evaluation function representing human visual behavior to outside stimuli is suggested. We also characterize different visual tasks in two cameras for vergence control purposes and phase-based method based on binarized images to extract vergence disparity for vergence control is presented. Control algorithm for vergence control is discussed.

Original languageEnglish (US)
Title of host publicationConference on Intelligent Robots in Factory, Field, Space, and Service, 1994
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages158-167
Number of pages10
StatePublished - 1994
EventConference on Intelligent Robots in Factory, Field, Space, and Service, 1994 - Houston, United States
Duration: Mar 21 1994Mar 24 1994

Other

OtherConference on Intelligent Robots in Factory, Field, Space, and Service, 1994
CountryUnited States
CityHouston
Period3/21/943/24/94

Fingerprint

Intelligent robots
Cameras
Robot applications
Binoculars
Function evaluation
Stabilization
Control systems

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Wu, L., & Marefat, M. M. (1994). Design and control of active vision based mechanisms for intelligent robots. In Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994 (pp. 158-167). [AIAA-94-1196-CP] American Institute of Aeronautics and Astronautics Inc, AIAA.

Design and control of active vision based mechanisms for intelligent robots. / Wu, Liwei; Marefat, Michael Mahmoud.

Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA, 1994. p. 158-167 AIAA-94-1196-CP.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wu, L & Marefat, MM 1994, Design and control of active vision based mechanisms for intelligent robots. in Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994., AIAA-94-1196-CP, American Institute of Aeronautics and Astronautics Inc, AIAA, pp. 158-167, Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994, Houston, United States, 3/21/94.
Wu L, Marefat MM. Design and control of active vision based mechanisms for intelligent robots. In Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA. 1994. p. 158-167. AIAA-94-1196-CP
Wu, Liwei ; Marefat, Michael Mahmoud. / Design and control of active vision based mechanisms for intelligent robots. Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA, 1994. pp. 158-167
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