TRICLOPS: A tool for studying active vision

Fiala, John C.; Lumia, Ronald; Roberts, Karen J.; Wavering, Albert J.

doi:10.1007/bf01421204

Cited by 34 publications

(12 citation statements)

References 19 publications

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“…To compare the performance of the different pursuit systems, with and without prediction, experiments were conducted using the NIST robot head, TRICLOPS (Fiala et al 1993), shown in Figure 14 up and down, and a fourth axis, the neck, pans the entire head. TRICLOPS is capable of high dynamic performance.…”

Section: Resultsmentioning

confidence: 99%

On visual pursuit systems

1994

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Visual pursuit systems are reviewed using a generalized form with the principal delay in the visual feedback pathway. The performance of several different control methods are compared through analysis of the tracking error. A high-performance active vision system, called TRICLOPS, is used to obtain experimental data on the tracking performance of the various methods, some of which had previously only been tested through simulation. Image processing delay is shown to be the primary limiting factor in performing high-speed tracking. Prediction is necessary to achieve high performance tracking, and the effectiveness of prediction depends on several factors, including the coordinate system used for motion modeling and the noise content of the target motion signal. It is demonstrated that, using relatively simple tracking algorithms which incorporate prediction with an advanced robotic device like TRICLOPS, it is now possible to outperform humans in the domain of visual pursuit of simple targets.

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Section: Resultsmentioning

confidence: 99%

On visual pursuit systems

1994

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“…TRICLOPS has four mechanical degrees of freedom. The four axes are: pan about a vertical axis through the center of the base, tilt about a horizontal line that intersects the base rotation axis and left and right vergence axes which intersect and are perpendicular to the tilt axis (Fiala et al, 1994). The system is configured with two 0.59(in) vergence lenses and the distance between the two vergence axes is 11(in).…”

Section: Triclops -A Case Studymentioning

confidence: 99%

An Approach for Optimal Design of Robot Vision Systems

Xu¹

2010

Robot Vision

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“…Only horizontally moving objects are detected, based on very high image differences without ego-motion subtraction. There are many further systems that use very simple image processing to detect and track well-defined targets like white blobs [17,18], putting emphasis on the control aspect of the problem.…”

Section: Related Workmentioning

confidence: 99%

Real-Time Tracking of Moving Objects with an Active Camera

et al. 1998

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T his article is concerned with the design and implementation of a system for real-time monocular tracking of a moving object using the two degrees of freedom of a camera platform. Figure-ground segregation is based on motion without making any a priori assumptions about the object form. Using only the first spatiotemporal image derivatives, subtraction of the normal optical flow induced by camera motion yields the object image motion. Closed-loop control is achieved by combining a stationary Kalman estimator with an optimal Linear Quadratic Regulator. The implementation on a pipeline architecture enables a servo rate of 25 Hz. We study the effects of time-recursive filtering and fixed-point arithmetic in image processing and we test the performance of the control algorithm on controlled motion of objects.

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TRICLOPS: A tool for studying active vision

Cited by 34 publications

References 19 publications

On visual pursuit systems

On visual pursuit systems

An Approach for Optimal Design of Robot Vision Systems

Real-Time Tracking of Moving Objects with an Active Camera

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