History of Robotics Research and Development of Japan1995SensingReal-time Binocular Tracking Based on Virtual Horopter

Nobuyuki Kita	Electrotechnical Laboratory (ETL)
S. Rougeaux	Institute d'Informatique d'Enterprise
Yasuo Kuniyoshi	Electrotechnical Laboratory (ETL)
Sigeyuki Sakane	Electrotechnical Laboratory (ETL)

An efficient method to fixate a binocular gaze point on an object moving around in a complicated environment was developed. Assuming the object is in the vicinity of the gaze point, the image features of the object are isolated from others by using zero disparity filtering (ZDF) (Fig.1). The object position in the depth direction, however, can not be estimated from such isolated features. In order to get the depth information simultaneously with the isolation by ZDF processing, the novel localization technique based on the idea of “virtual horopter'' was introduced (Fig.2). The proposed method was implemented on our active vision system with much reduced programming efforts and resources in comparing with conventional methods, and several experiments demonstrated that the binocular tracking based on the proposed method worked for various shape objects and in complicated environments. The proposed method was applied to the mobile robot for "Cooperation by observation" [4] and extended by the integration with optical flaw and so on [5]. 10th RSJ Best Paper Award in 1996

図1　零視差フィルタによる追跡対象抽出 — Fig. 1 Object isolation by using ZDF

図2　仮想ホロプタによる奥行き方向の追跡 — Fig. 2 Tracking in the depth direction by using the virtual horopter

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