Binocular Heads
Robotic Head Design
The lab has developed two binocular heads in the past, TRISH and TRISH-2; see publications:
E. Milios, M. Jenkin, J. Tsotsos: Design and Performance of TRISH, a Binocular Robot Head with Torsional Eye Movements, special issue on Active Robot Vision: Camera Heads, Model Based Navigation and Reactive Control, International Journal of Pattern Recognition and Artificial Intelligence, 7(1), p51-68, February 1993.
Jenkin, M. R., Milios, E. E., & Tsotsos, J. K. (1992, March). TRISH: The Toronto-IRIS Stereo Head. In Aerospace Sensing (pp. 36-46). International Society for Optics and Photonics.
A novel feature was that of cyclotorsion; for performance of this feature see:
Jenkin, M., Milios, E., Tsotsos, J., Cyclotorsion and the TRISH Active Stereo Head, Int. Workshop on Stereoscopic and Three-Dimensional Imaging, p 218-223, Sept. 6 – 8, 1995, Santorini, Greece.
Jenkin, M., Tsotsos, J., Dudek, G., The horoptor and active cyclotorsion, IAPR Conference on Pattern Recognition, Vol. A, p707 – 710, Jerusalem, October 1994.
Jenkin, M., Tsotsos, J., Active Stereo Vision and Cyclotorsion, Proceedings Computer Vision and Pattern Recognition, p806-811, Seattle, June 20-22, 1994
Currently, there is new effort to design and develop a 7DOF robotic head. The concept is based on the OREO head design and Agile eye. The Agile eye system is a 3-RRR spherical parallel manipulator system with a workspace that is superior to that of human eye. The agile eye system also allows for faster movement. This platform, once designed, will allow to perform research in advanced computer vision systems.
This work is done with our collaborator Dr. M.R.M. Jenkin , York University
References
Huber, Scott, Ben Selby, and Bryan Tripp. “OREO: An Open-Hardware Robotic Head That Supports Practical Saccades and Accommodation.” IEEE Robotics and Automation Letters3.3 (2018): 2640-2645. Bonev, Ilian A., Damien Chablat, and Philippe Wenger. “Working and assembly modes of the Agile Eye.” Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.. IEEE, 2006.