Robot Vision

In order for an active visual agent to act in a dynamic environment, it needs the ability to fixate onto objects that might be of interest. In this article we will discuss issues concerning the design of a binocular system with such capabilities. The problems range from gaze shifting and saccading, to epipolar geometry and ego-motion estimation. In the end of the paper it will be shown how scene parts of independent motion, that will be used to trigger saccades, can be efficiently detected.

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