TRICLOPS: a high-performance trinocular active vision system

Abstract

The design, performance, and application of the real-time, intelligently controlled, optical positioning system (TRICLOPS) are described. TRICLOPS is a multiresolution trinocular camera-pointing system which provides a center wide-angle view camera and two higher-resolution vergence cameras. It is a four-degree-of-freedom direct-drive system which exhibits dynamic performance comparable to the human visual system. The vergence degrees of freedom can achieve peak velocities in excess of 30 rad/s, and peak accelerations of 1100 rad/s/sup 2/. In an example of visual tracking, TRICLOPS is shown to be capable of following a ball moving at 3 m/s, with rotational velocities of the vergence axes in excess of 6 rad/s.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>