The Robot Eye is a foveated active vision system under development at
CIM. We wish to include tracking capabilities (with feedback control)
to continuously focus the attention of the Robot Eye on a moving
object of interest. To achieve this, we have reformulated the tracking
problem as a dynamic centering process using Kalman filtering.
Prelimary results indicate that the algorithm performs well for
any combination of viewer/object motions. The first implementation
enables us to continuously track a moving object with a fast frame
rate (up to 20 frames/sec.). In the next step, we will use a
conventional video camera mounted on a pan-tilt head (QUADRIS) which will be placed on
our mobile robot platform. Following this we will test the algorithm
using the Robot Eye.
T. Baron, M.D. Levine