注視点ベースロボット視線安定化

抄録

We describe a gaze stabilization based on fixation in robotic vision. Robot vision system in this study consists of CMOS cameras, gyro sensor, micro controller, and Field Programmable Gate Array (FPGA). During robot moves, the appropriate fixation point is selected and changed according with the robot position. The movement of two cameras and head is controlled based on the information obtained from cameras and gyro sensor. In addition to the camera movement, we apply an image shift so that the fixation point is fixed to the center of the view field. This method can fix the target point to the center of the view with high accuracy and respond to a fast and large movement of the robot.