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Estimating the Kinematics of Unseen Joints that Affect the Vision System Justin Hart, Brian Scassellati, Steven Zucker Department of Computer Science Yale University. Nico. Robotic Self-Modeling. Sensory Systems Kinematics Causal Modeling. Photo Credit: Jeremiah Owyang.
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Estimating the Kinematics of Unseen Joints that Affect the Vision SystemJustin Hart, Brian Scassellati, Steven ZuckerDepartment of Computer ScienceYale University
Robotic Self-Modeling • Sensory Systems • Kinematics • Causal Modeling Photo Credit: Jeremiah Owyang
Stereo Vision in a Nutshell Pinhole Camera Illustration Credit: Wikimedia Commons • Pinhole Camera Model • Camera Center • Stereo Correspondence • Epipolar Geometry
Epipolar Geometry in a Nutshell • Epipole • Epipolar Line • Cameras • Positioning • Orientation
Nico's Head • Nico's eyes • Yaw independently • Majority approaches • Assume fixed epipolar geometry • Assume unknown epipolar geometry • Other approaches • Compute ego-motion visually • Hand/Head-eye calibration
Results Right camera image, with epipolar lines Left camera image