Title :
TRICLOPS: a high-performance trinocular active vision system
Author :
Wavering, Albert J. ; Fiala, John C. ; Roberts, Karen J. ; Lumia, Ronald
Author_Institution :
Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
Abstract :
The design, performance, and application of the real-time, intelligently controlled, optical positioning system (TRICLOPS) are described. TRICLOPS is a multiresolution trinocular camera-pointing system which provides a center wide-angle view camera and two higher-resolution vergence cameras. It is a four-degree-of-freedom direct-drive system which exhibits dynamic performance comparable to the human visual system. The vergence degrees of freedom can achieve peak velocities in excess of 30 rad/s, and peak accelerations of 1100 rad/s 2. In an example of visual tracking, TRICLOPS is shown to be capable of following a ball moving at 3 m/s, with rotational velocities of the vergence axes in excess of 6 rad/s
Keywords :
CCD image sensors; cameras; computer vision; image processing equipment; intelligent control; position control; telecontrol; tracking; TRICLOPS; center wide-angle view camera; dynamic performance; four-degree-of-freedom direct-drive system; high-performance; intelligently controlled; multiresolution trinocular camera-pointing system; optical positioning system; robotic vision; telerobotics; tracking; trinocular active vision system; vergence cameras; visual tracking; Cameras; Control systems; Intelligent robots; Lenses; Machine vision; Magnetic heads; NIST; Optical control; Optical design; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292207
