TY - GEN
T1 - Foveated vision systems with two cameras per eye
AU - Ude, Aleš
AU - Gaskett, Chris
AU - Cheng, Gordon
PY - 2006
Y1 - 2006
N2 - In this paper we discuss active humanoid vision systems that realize foveation using two rigidly connected cameras in each eye. We present an exhaustive analysis of the relationship between the positions of the observed point in the foveal and peripheral view with respect to the intrinsic and extrinsic parameters of both cameras and 3-D point position. Based on these results we propose a control scheme that can be used to maintain the view of the observed object in the foveal image using information from the peripheral view. Experimental results showing the effectiveness of the proposed foveation control are also provided.
AB - In this paper we discuss active humanoid vision systems that realize foveation using two rigidly connected cameras in each eye. We present an exhaustive analysis of the relationship between the positions of the observed point in the foveal and peripheral view with respect to the intrinsic and extrinsic parameters of both cameras and 3-D point position. Based on these results we propose a control scheme that can be used to maintain the view of the observed object in the foveal image using information from the peripheral view. Experimental results showing the effectiveness of the proposed foveation control are also provided.
UR - http://www.scopus.com/inward/record.url?scp=33845615982&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642230
DO - 10.1109/ROBOT.2006.1642230
M3 - Conference contribution
AN - SCOPUS:33845615982
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3457
EP - 3462
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -