Robust Real-Time Tracking on an Active Vision Head

Abstract

Achieving the first step of a framework for humanrobot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses. 1 Introduction Robots are facing tough challenges when evolving in complex and dynamic environments, and efforts to provide them with adaptive and intelligent behaviors have so far been poorly retributed: whereas building extensive responsive systems has quickly proven to be far too difficult to achieve, giving robots simple learning strategies and letting them figure it out by themself has not produced the expected breakthrough [5]. A more interesti..