Skip to main content
SpringerLink
Log in
SpringerLink
Log in

Advancing Active Vision Systems by Improved Design and Control

  • Conference paper
  • First Online:
Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

This paper presents the mechanical hardware and control software of a novel high-performance active vision system. It is the latest in an ongoing research effort to develop real-world vision systems based on cable-drive transmissions. The head presented in this paper is the laboratory’s first fully cable-driven binocular rig, and builds on several successful aspects of previous monocular prototypes. Namely, an increased payload capacity, a more compact transmission, and a design optimised for rigidity. In addition, we have developed a simple and compact controller for real-time tracking applications. It consists of two behavioural subgroups, saccade and smooth pursuit. By using a single trapezoidal profile motion (TPM) algorithm, we show that saccade time and motion smoothness can be optimised.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. A. Brooks, G. Dickens, A. Zelinsky, J. Kieffer, and S. Abdallah. A high-performance camera platform for real-time active vision. Field and Service Robotics, pages 527–532, 1998.

    Google Scholar 

  2. C. Gosselin, E. St-Pierre, and M. Gagne. On the development of the agile eye. In IEEE Robotics and Automation Magazine., pages 29–37. IEEE, December 1996.

    Google Scholar 

  3. Y. Kuniyoshi, N. Kita, S. Rougeaux, and T. Suehiro. Active stereo vision system with foveated wide angel lenses. In Asian Conf. on Computer Vision, Singapore, 1995.

    Google Scholar 

  4. Maxon Motors. High precision drives and systems. http://www.maxonmotor.com, 1999.

  5. D.W. Murray, F. Du, P.F. McLauchlan, I.D. Reid, P.M. Sharkey, and M. Brady. Active Vision, pages 155–172. MIT Press, 1992.

    Google Scholar 

  6. K. Pahlavan and J.O. Eklundh. A head-eye system-analysis and design. CVGIP: Image Understanding: Special issue on purposive, qualitative and active vision, July 1992.

    Google Scholar 

  7. P.M. Sharkey, D.W. Murray, and J. J. Heuring. On the kinematics of robot heads. IEEE Transactions on Robotics and Automation, 13(3):437–442, June 1997.

    Article  Google Scholar 

  8. P.M. Sharkey, D.W. Murray, S. Vandevelde, I.D. Reid, and P.F. McLauchlan. A modular head/eye platform for real-time reactive vision. Mechatronics Journal, 3(4):517–535, 1993.

    Article  Google Scholar 

  9. HD Systems. Harmonic drive systems. http://www.hdsystemsinc.com.

  10. W. T. Townsend. The effect of transmission design on force-controlled manipulator performance. PhD thesis, MIT Artificial Intelligence Laboratory, April 1988.

    Google Scholar 

  11. S. Truong, J. Kieffer, and A. Zelinsky. A cable-driven pan-tilt mechanism for active vision. In Proceedings Australian Conference on Robotics and Automation, pages 172–177, Brisbane 1999.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robotic Systems Laboratory, Department of Systems Engineering, RSISE, Australian National University, Canberra, ACT, 0200, Australia

    Orson Sutherland, Harley Truong, Sebastien Rougeaux & Alexander Zelinsky

Authors
  1. Orson Sutherland
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Harley Truong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sebastien Rougeaux
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Alexander Zelinsky
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

Rights and permissions

Reprints and permissions

Copyright information

© 2001 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Sutherland, O., Truong, H., Rougeaux, S., Zelinsky, A. (2001). Advancing Active Vision Systems by Improved Design and Control. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_8

Download citation

  • DOI: https://doi.org/10.1007/3-540-45118-8_8

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation