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Riemannian geometric approach to optimal binocular rotation,pyramid based interpolation and bio-mimetic pan-tilt movement

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Autonomous Intelligent Systems 2021年第1期1卷 13-31页

作者： bijoy kghosh Bhagya Athukorallage Department of Mathematics and Statistics Texas Tech UniversityLubbockTexas 79409-1042USA School of Automation Engineering University of Electronic Science and Technology of ChinaChengduSichuan 610054China

Over the past several years,we have been studying the problem of optimally rotating a rigid sphere about its center,where the rotation is actuated by a triplet of external torques acting on the *** control objective is to repeatedly direct a suitable radial vector,called the gaze vector,towards a stationary point target in R^(3).The orientation of the sphere is constrained to lie in a suitable submanifold of SO(3).Historically,the constrained rotational movements were studied by physiologists in the nineteenth century,interested in eye and head *** this paper we revisit the gaze control problem,where two visual sensors,are tasked to simultaneously stare at a point target in the visual *** target position changes discretely and the problem we consider is how to reorient the gaze directions of the sensors,along the optimal pathway of the human eyes,to the new location of the *** is done by first solving an optimal control problem on the human binocular ***,we use these optimal control and show that a pan-tilt system can be controlled to follow the gaze trajectory of the human eye requiring a nonlinear static feedback of the pan and tilt angles and their *** problem formulation uses a new Riemannian geometric description of the orientation *** paper also introduces a new,pyramid based interpolation method,to implement the optimal controller.

关键词： Binocular vision Riemannian geometry Optimal control Pyramid based interpolation Bio-Mimetic Pan-Tilt rotation

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