Artificial Intelligence
A head-eye system—analysis and design
CVGIP: Image Understanding - Special issue on purposive, qualitative, active vision
Dynamic aspects in active vision
CVGIP: Image Understanding - Special issue on purposive, qualitative, active vision
Promising directions in active vision
International Journal of Computer Vision
Real-time binocular smooth pursuit
International Journal of Computer Vision
The role of fixation in visual motion analysis
International Journal of Computer Vision
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Robot Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion Field and Optical Flow: Qualitative Properties
Motion Field and Optical Flow: Qualitative Properties
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
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A camera is mounted on a moving robot and can rotate, relative to the robot, about two axes. We show how the optical flow field can be used to control the camera驴s motion to keep a target at the center of the camera驴s field of view, but that this is not always possible when the target lies close to the plane defined by the camera驴s two axes of rotation.When the target is held at the center of the camera驴s field of view, then the magnitude of the camera驴s angular velocity about one axis never exceeds the magnitude of the flow vector associated with the target, but the angular velocity about the other axis is dependent on the inverse distance of the target from this axis, and hence can become large as this distance becomes small. Situations, where the magnitudes of the camera驴s angular velocity and acceleration become large, are considered in the special case where the relative motion between the robot and its environment is purely translational. The tracking strategy is experimentally evaluated using computer-generated optical flow fields.