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This project provides a software module for the control of the binocular coordination of a robotic stereo head, based on a bio-inspired algorithm.
The project is now available for the iCub platform to work on YARP [https://github.com/stino78/vergence-control/][1]
The algorithm works on the top of a distributed representation of binocular disparity supplied by a population of binocular energy-model neural units. The project allows a robust control and adaptive binocular coordination for different robot stereo platforms.
Reference publications:
Gibaldi, A., Vanegas, M., Canessa, A., & Sabatini, S. P. (2017). A portable bio-inspired architecture for efficient robotic vergence control. International Journal of Computer Vision,.
Gibaldi, A., Canessa, A., Chessa, M., Sabatini, S. P., & Solari, F. (2011, October). A neuromorphic control module for real-time vergence eye movements on the iCub robot head. In Humanoid Robots (Humanoids), 2011
Features
- Easy portability on binocular robotic platforms with different geometries
- Effective alignment of the eyes in the 3D space (error < 0.2 deg)
- Controls both horizontal alignment and vertical alignment
- Real-time capabilities
- Software developed on C/C++ with OpenCV 3.3.1
- Compiled on Visual Studio 2012, Windows 10
- Portable to other IDEs (e.g., MinGW) and operative systems (e.g., Linux)
Project Samples
Categories
Computer Vision LibrariesFollow Portable Robotics Eye Vergence Control
User Reviews
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I have never found a better and more performance vergence control! Also it is user friendly and easy to adapt to your robot head!! But I have to admit that I am the author, so there might be some conflicts of interest in my review... Anyway, try it and let me know!!