TY - GEN
T1 - Scanning the environment with two independent cameras - Biologically motivated approach
AU - Avni, Ofir
AU - Borrelli, Francesco
AU - Katzir, Gadi
AU - Rivlin, Ehud
AU - Rotstein, Hector
PY - 2006
Y1 - 2006
N2 - In this paper we present a novel method for visual scanning and target tracking by means of independent pan-tilt cameras which mimic the chameleon visual system. We present a systematic and optimization-based approach to the problem, from the high-level to the low-level control. In particular, in the first part we develop a new algorithm for scanning the sphere using multiple cameras. The algorithm combines information about the environment and a model of target movement, to perform optimal scanning by means of stochastic dynamic programming. In the second part we develop a model-based control strategy for target tracking. A switching optimal control strategy based on smooth pursuit and saccades is designed by means of explicit Model Predictive Control (MPC) theory. We simulated and experimentally validated our theory on a robotic chameleon head composed of two independent Pan-Tilt cameras. The resulting scanning pattern and target tracking has a remarkable resemblance to the one seen in nature by chameleons.
AB - In this paper we present a novel method for visual scanning and target tracking by means of independent pan-tilt cameras which mimic the chameleon visual system. We present a systematic and optimization-based approach to the problem, from the high-level to the low-level control. In particular, in the first part we develop a new algorithm for scanning the sphere using multiple cameras. The algorithm combines information about the environment and a model of target movement, to perform optimal scanning by means of stochastic dynamic programming. In the second part we develop a model-based control strategy for target tracking. A switching optimal control strategy based on smooth pursuit and saccades is designed by means of explicit Model Predictive Control (MPC) theory. We simulated and experimentally validated our theory on a robotic chameleon head composed of two independent Pan-Tilt cameras. The resulting scanning pattern and target tracking has a remarkable resemblance to the one seen in nature by chameleons.
UR - http://www.scopus.com/inward/record.url?scp=34250650188&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282031
DO - 10.1109/IROS.2006.282031
M3 - Conference contribution
AN - SCOPUS:34250650188
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5297
EP - 5302
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -