An active binocular integrated system for intelligent robot vision

Abstract

Rescue robots possessing human-like active binocular systems would allow high quality remote control by 3D viewing and stable robot vision. However, this type of system has not been researched thoroughly because it is difficult to control, and there are few accurate integrated eye motion control models. In this paper, we propose an integrated eye motion control system for a rescue robot, which integrates smooth pursuit, saccade, Vestibulo-ocular reflex (VOR) and Optokinetic response (OKR) into a binocular model. To simplify this system, we also include aspects of the human visual system, in which only the saccade command is externally applied, whereas the smooth pursuit, VOR and OKR commands are internally auto-implemented.