Towards a unified visual framework in a binocular active robot vision system

Authors:
Gerardo Aragon-Camarasa;Haitham Fattah;J. Paul Siebert
Affiliations:
Computer Vision and Graphics Group, Department of Computing Science, University of Glasgow, 17 Lilybank Gardens, Glasgow G12 8QQ. Scotland, UK;Institute for System Level Integration, The Alba Centre, Alba Campus, EH54 7EG, UK;Computer Vision and Graphics Group, Department of Computing Science, University of Glasgow, 17 Lilybank Gardens, Glasgow G12 8QQ. Scotland, UK
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

This paper presents the results of an investigation and pilot study into an active binocular vision system that combines binocular vergence, object recognition and attention control in a unified framework. The prototype developed is capable of identifying, targeting, verging on and recognising objects in a cluttered scene without the need for calibration or other knowledge of the camera geometry. This is achieved by implementing all image analysis in a symbolic space without creating explicit pixel-space maps. The system structure is based on the 'searchlight metaphor' of biological systems. We present results of an investigation that yield a maximum vergence error of ~6.5 pixels, while ~85% of known objects were recognised in five different cluttered scenes. Finally a 'stepping-stone' visual search strategy was demonstrated, taking a total of 40 saccades to find two known objects in the workspace, neither of which appeared simultaneously within the field of view resulting from any individual saccade.