DESIGN AND PERFORMANCE OF TRISH, A BINOCULAR ROBOT HEAD WITH TORSIONAL EYE MOVEMENTS
- 1 February 1993
- journal article
- Published by World Scientific Pub Co Pte Ltd in International Journal of Pattern Recognition and Artificial Intelligence
- Vol. 7 (1) , 51-68
- https://doi.org/10.1142/s0218001493000042
Abstract
We present the design of a controllable stereo vision head. TRISH (The Toronto IRIS Stereo Head) is a binocular camera mount, consisting of two fixed focal length color cameras with automatic gain control forming a verging stereo pair. TRISH is capable of version (rotation of the eyes about the vertical axis so as to maintain a constant disparity), vergence (rotation of each eye about the vertical axis so as to change the disparity), pan (rotation of the entire head about the vertical axis), and tilt (rotation of each eye about the horizontal axis). One novel characteristic of the design is that each camera can rotate about its own optical axis (torsion). Torsional movement makes it possible to minimize the vertical component of the two-dimensional search which is associated with stereo processing in verging stereo systems.Keywords
This publication has 0 references indexed in Scilit: