Portable High-Speed Optical Gaze Controller with Vision Chip
Portable High-Speed Optical Gaze Controller with Vision Chip
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DOI：
10.20965/jrm.2022.p1133
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Leo Miyashita;M. Ishikawa
中科院分区：
文献类型：
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作者：
Leo Miyashita;M. Ishikawa
重要的是使机器人系统小型化，同时保持人机交互的高响应性和功能性，以及实现与无人机等其他机器人系统的集成。在这项研究中，我们着眼于高速视觉反馈系统的小型化，并开发了一种便携式扫视镜，该系统可以在手持设备上通过1000 Hz的图像采集、处理和反馈驱动来实现主动目标跟踪，延迟仅为3ms。该系统采用三维堆叠式视觉芯片，实现了高速、低延迟、低功耗、体积小等特点，是小型化高速视觉反馈系统的典范。在这项研究中，我们评估了该系统与传统的光学凝视控制器的性能，并展示了一些应用，如跟踪视场范围和全景目标扫描。
It is important to miniaturize robot systems while maintaining advantages such as high responsiveness and functionality for human-machine interactions and for achieving integration with other robotic systems such as drones. In this research, we focused on the miniaturization of a high-speed visual feedback system, and developed a “portable saccade mirror,” which is a system that can realize active target tracking using 1000 Hz image capturing, processing, and feedback actuation with only 3 ms latency in a handheld device. By using a three-dimensionally-stacked vision chip, the proposed system achieved high speed, low latency, low power consumption and compact size, and therefore, can be considered as a good example of a miniaturized high-speed visual feedback system. In this study, we evaluated the performance of the proposed system in comparison with the conventional optical gaze controller, and demonstrated some applications, such as tracking field scope and panorama target scanning.