Real-time binocular smooth pursuit

摘要

This article examines the problem of a moving robot tracking a moving object with its cameras, without requiring the ability to recognize the target to distinguish it from distracting surroundings. A novel aspect of the approach taken is the use of controlled camera movements to simplify the visual processing necessary to keep the cameras locked on the target. A gaze-holding system implemented on a robot's binocular head demonstrates this approach. Even while the robot is moving, the cameras are able to track an object that rotates and moves in three dimensions.