<XML><RECORDS><RECORD><REFERENCE_TYPE>3</REFERENCE_TYPE><REFNUM>8903</REFNUM><AUTHORS><AUTHOR>Haitham,F.</AUTHOR><AUTHOR>Aragon Camarasa,G.</AUTHOR><AUTHOR>Siebert,J.P.</AUTHOR></AUTHORS><YEAR>2008</YEAR><TITLE>Towards Binocular Active Vision in a Robot Head System</TITLE><PLACE_PUBLISHED>Towards Autonomous Robotic Systems Conference, University of Edinburgh, 1-3 September 2008</PLACE_PUBLISHED><PUBLISHER>University of Edinburgh</PUBLISHER><LABEL>Haitham:2008:8903</LABEL><KEYWORDS><KEYWORD>Binocular vision; active vision; gaze control; vergence; robot head;</KEYWORD></KEYWORDS<ABSTRACT>This paper presents the first results of an investigation and pilot study into an active, binocular vision system that combines binocular vergence, object recognition and attention control in a unified framework. The prototype developed is capable of identifying, targeting, verging on and recognizing objects in a highly-cluttered scene without the need for calibration or other knowledge of the camera geometry. This is achieved by implementing all image analysis in a symbolic space without creating explicit pixel-space maps. The system structure is based on the ‘searchlight metaphor’ of biological systems. We present results of a first pilot investigation that yield a maximum vergence error of 6.4 pixels, while seven of nine known objects were recognized in a high-cluttered environment. Finally a “stepping stone” visual search strategy was demonstrated, taking a total of 40 saccades to find two known objects in the workspace, neither of which appeared simultaneously within the Field of View resulting from any individual saccade.</ABSTRACT></RECORD></RECORDS></XML>