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Unseen Joint Kinematics for Vision System Estimation

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  1. Estimating the Kinematics of Unseen Joints that Affect the Vision SystemJustin Hart, Brian Scassellati, Steven ZuckerDepartment of Computer ScienceYale University

  2. Nico

  3. Robotic Self-Modeling • Sensory Systems • Kinematics • Causal Modeling Photo Credit: Jeremiah Owyang

  4. Stereo Vision in a Nutshell Pinhole Camera Illustration Credit: Wikimedia Commons • Pinhole Camera Model • Camera Center • Stereo Correspondence • Epipolar Geometry

  5. Epipolar Geometry in a Nutshell • Epipole • Epipolar Line • Cameras • Positioning • Orientation

  6. 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

  7. Epipolar Kinematic Model

  8. Results Right camera image, with epipolar lines Left camera image

  9. Kinematics

  10. Neck Joints

  11. Some Projective Geometry Formulas

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