Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study
Autor(a) principal: | |
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Data de Publicação: | 1998 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Journal of the Brazilian Computer Society |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100008 |
Resumo: | A comparative evaluation of two methods for visual tracking by saccade control of an active vision head with antropomorphic characteristics conducted at the ITA/INPE Active Computer Vision and Perception Laboratory is presented. The first method accomplishes fixation by detecting motion and controlling gaze direction based on gray-level segmentation. The second method aligns images of different viewpoints in order to apply static camera motion detection. Morphological opening is then employed to compensate for image alignment errors. Results from experiments in a controlled environment show that both approaches are capable of dealing with non-rigid forms and scenes with limited dynamics by operating at about 1 Hz. However, the comparative evaluation shows that image alignment improves tracking robustness to variations in lighting conditions and background texture. The results so far obtained encourage further applications in autonomous robotics and vision-aided robotic rotorcraft navigation. |
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Journal of the Brazilian Computer Society |
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Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative StudyMonocular fixationactive visionrobotic autonomous navigationexperimental evaluation of active vision algorithmsA comparative evaluation of two methods for visual tracking by saccade control of an active vision head with antropomorphic characteristics conducted at the ITA/INPE Active Computer Vision and Perception Laboratory is presented. The first method accomplishes fixation by detecting motion and controlling gaze direction based on gray-level segmentation. The second method aligns images of different viewpoints in order to apply static camera motion detection. Morphological opening is then employed to compensate for image alignment errors. Results from experiments in a controlled environment show that both approaches are capable of dealing with non-rigid forms and scenes with limited dynamics by operating at about 1 Hz. However, the comparative evaluation shows that image alignment improves tracking robustness to variations in lighting conditions and background texture. The results so far obtained encourage further applications in autonomous robotics and vision-aided robotic rotorcraft navigation.Sociedade Brasileira de Computação1998-04-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100008Journal of the Brazilian Computer Society v.4 n.3 1998reponame:Journal of the Brazilian Computer Societyinstname:Sociedade Brasileira de Computação (SBC)instacron:UFRGS10.1590/S0104-65001998000100008info:eu-repo/semantics/openAccessWaldmann,JacquesBispo,Edvaldo Marqueseng1998-10-08T00:00:00Zoai:scielo:S0104-65001998000100008Revistahttps://journal-bcs.springeropen.com/PUBhttps://old.scielo.br/oai/scielo-oai.phpjbcs@icmc.sc.usp.br1678-48040104-6500opendoar:1998-10-08T00:00Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)false |
dc.title.none.fl_str_mv |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
title |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
spellingShingle |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study Waldmann,Jacques Monocular fixation active vision robotic autonomous navigation experimental evaluation of active vision algorithms |
title_short |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
title_full |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
title_fullStr |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
title_full_unstemmed |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
title_sort |
Saccadic Motion Control for Monocular Fixation in a Robotic Vision Head: A Comparative Study |
author |
Waldmann,Jacques |
author_facet |
Waldmann,Jacques Bispo,Edvaldo Marques |
author_role |
author |
author2 |
Bispo,Edvaldo Marques |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Waldmann,Jacques Bispo,Edvaldo Marques |
dc.subject.por.fl_str_mv |
Monocular fixation active vision robotic autonomous navigation experimental evaluation of active vision algorithms |
topic |
Monocular fixation active vision robotic autonomous navigation experimental evaluation of active vision algorithms |
description |
A comparative evaluation of two methods for visual tracking by saccade control of an active vision head with antropomorphic characteristics conducted at the ITA/INPE Active Computer Vision and Perception Laboratory is presented. The first method accomplishes fixation by detecting motion and controlling gaze direction based on gray-level segmentation. The second method aligns images of different viewpoints in order to apply static camera motion detection. Morphological opening is then employed to compensate for image alignment errors. Results from experiments in a controlled environment show that both approaches are capable of dealing with non-rigid forms and scenes with limited dynamics by operating at about 1 Hz. However, the comparative evaluation shows that image alignment improves tracking robustness to variations in lighting conditions and background texture. The results so far obtained encourage further applications in autonomous robotics and vision-aided robotic rotorcraft navigation. |
publishDate |
1998 |
dc.date.none.fl_str_mv |
1998-04-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100008 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100008 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/S0104-65001998000100008 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Sociedade Brasileira de Computação |
publisher.none.fl_str_mv |
Sociedade Brasileira de Computação |
dc.source.none.fl_str_mv |
Journal of the Brazilian Computer Society v.4 n.3 1998 reponame:Journal of the Brazilian Computer Society instname:Sociedade Brasileira de Computação (SBC) instacron:UFRGS |
instname_str |
Sociedade Brasileira de Computação (SBC) |
instacron_str |
UFRGS |
institution |
UFRGS |
reponame_str |
Journal of the Brazilian Computer Society |
collection |
Journal of the Brazilian Computer Society |
repository.name.fl_str_mv |
Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC) |
repository.mail.fl_str_mv |
jbcs@icmc.sc.usp.br |
_version_ |
1754734669508640768 |