An Autonomous Three-Dimensional Vision Sensor with Ears

Shigeru ANDO  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.12   pp.1621-1629
Publication Date: 1995/12/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Machine Vision Applications)
vision sensor,  auditory sensor,  image processing,  binocular stereo,  

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This paper describes our newly developed intelligent sensor system which comprises two eyes and four ears on a movable head. It can acquire its dynamical visual and auditory image of its surrouding 3-D environment while showing humanlike behavior naturally and autonomously. The most important feature of the sensor system is in an autonomous and optimum sensory architecture of it. This enables the sensor to achieve 1) repid (5 ms) and accurate (2 deg) auditory localization, 2) rapid (0.5 s/65536 pixel) extraction of visual motion in marginal view, 3) rapid (several TV frames' time) eye movement and binocular fixation to a suddenly appeared object, 3) rapid (0.1 s/4096 pixel) extraction of 3-D object profile and image features, which is activated by its own auditory localization and motion detection. We describe in this paper the several key items for realizing this sensor.