A MODULAR HEAD EYE PLATFORM FOR REAL-TIME REACTIVE VISION

This paper describes the design, implementation and testing of a high speed controlled stereo 'head/eye' platform which facilitates the rapi d redirection of gaze in response to visual input. It details the mech anical device, which is based around geared DC motors, and describes h ardware aspects of the controller and vision system, which are impleme nted on a reconfigurable network of general purpose parallel processor s. The servo-controller is described in detail and higher level gaze a nd vision constructs outlined. The paper gives performance figures gai ned both from mechanical tests on the platform alone, and from closed loop tests on the entire system using visual feedback from a feature d etector.