On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots

This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closedform hand-to-eye solution. We then present an approach for updating dynamically camera external parameters for optimal 3D reconstruction that are the foundation for robotic tasks such as grasping and manipulating rigid and deformable objects. We show from experimental results that our robot head achieves an overall sub millimetre accuracy of less than 0.3 millimetres while recovering the 3D structure of a scene. In addition, we report a comparative study between current RGBD cameras and our active stereo head within two dual-arm robotic testbeds that demonstrates the accuracy and portability of our proposed methodology

Novel methods for real-time 3D facial recognition

In this paper we discuss our approach to real-time 3D face recognition. We argue the need for real time operation in a realistic scenario and highlight the required pre- and post-processing operations for effective 3D facial recognition. We focus attention to some operations including face and eye detection, and fast post-processing operations such as hole filling, mesh smoothing and noise removal. We consider strategies for hole filling such as bilinear and polynomial interpolation and Laplace and conclude that bilinear interpolation is preferred. Gaussian and moving average smoothing strategies are compared and it is shown that moving average can have the edge over Gaussian smoothing. The regions around the eyes normally carry a considerable amount of noise and strategies for replacing the eyeball with a spherical surface and the use of an elliptical mask in conjunction with hole filling are compared. Results show that the elliptical mask with hole filling works well on face models and it is simpler to implement. Finally performance issues are considered and the system has demonstrated to be able to perform real-time 3D face recognition in just over 1s 200ms per face model for a small database

Reaction to spatial novelty and exploratory strategies in baboons

Exploratory activity was examined in 4 young baboons with the aim of investigating the type of spatial coding (purely geometric and/or by taking into account the identity of the object) used for the configuration of objects. Animals were individually tested in an outdoor enclosure for their exploratory reactions (contact time and order of spontaneous visits) to changes brought about to a configuration of different objects. Two kinds of spatial changes were made: a modification (1) of the shape of the configuration (by displacement of one object) and (2) of the spatial arrangement without changing the initial shape (exchanging the location of two objects). In the second experiment, the effect of a spatial modification of the global geometry constituted by four identical objects was investigated. Finally, in the third experiment, a substitution of a familiar object with a novel one was performed without changing the objects' configuration. The baboons strongly reacted to geometrical modifications of the configuration. In contrast, they were less sensitive to modifications of local features that did not affect the initial spatial configuration. Analyses of spontaneous exploratory activities revealed two types of exploratory strategies (cyclic and back-and-forth). These data are discussed in relation to (1) the distinction between the encoding of geometric versus local spatial features and (2) the spatial function of exploratory activity