仿生可重构立体视觉系统，让机器人摄像头灵活变焦适应不同任务。
Bio-inspired reconfigurable stereo vision for robotics using omnidirectional cameras
- 通过可动态调整的相机布局实现灵活立体视觉
- 支持316°单目+79°双目快速寻物，242°单目+150°双目精细检测
- 结合深度网络与几何补偿，提升复杂场景测距精度
本文提出一种新型仿生可重构立体视觉系统，用于机器人应用，利用全景摄像头和新算法实现灵活视觉能力。受多种生物视觉适应性的启发，该系统克服了传统立体视觉中相机固定对齐、视场狭窄的局限，引入可重构立体视觉机制。核心创新包括：支持动态相机对齐的可重构立体视觉策略；基于非校正几何方法与深度神经网络相结合的鲁棒深度测量系统；以及用于提升视觉精度的几何补偿技术。在变形机器人平台上实现后，该系统展现出优异的环境适应性：可在316°单目+79°双目视场下快速目标搜寻，或切换至242°单目+150°双目视场进行细致近距离检查。
原文摘要 · Abstract (English)
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various species, our visual system addresses traditional stereo vision limitations, i.e., immutable camera alignment with narrow fields of view, by introducing a reconfigurable stereo vision system to robotics. Our key innovations include the reconfigurable stereo vision strategy that allows dynamic camera alignment, a robust depth measurement system utilizing a nonrectified geometrical method combined with a deep neural network for feature matching, and a geometrical compensation technique to enhance visual accuracy. Implemented on a metamorphic robot, this vision system demonstrates its great adaptability to various scenarios by switching its configurations of 316° monocular with 79° binocular field for fast target seeking and 242° monocular with 150° binocular field for detailed close inspection.
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