DIJIT机器人头部模拟人眼与头颈协同运动，用于研究主动视觉机制。
DIJIT: A Robotic Head for an Active Observer
- 九自由度机械结构+四光学自由度，实现类人眼动与头颈联动
- 眼动速度达人类峰值的85%，左右相机定位误差仅1.17°和1.14°
- 适用于人机视觉对比、主动观察系统等研究，适合机器人视觉方向
我们提出DIJIT，一种专为移动智能体设计的双目机器人头部，旨在作为主动观察者。DIJIT具备九个机械自由度和四个光学自由度，其运动范围与速度接近人类水平，可达人类峰值扫视速度的85%。系统支持汇聚立体视觉所需的眼动模式，包括会聚、同向运动与旋转变形。本文介绍DIJIT的设计及其性能表现，并提出一种基于相机朝向与电机值直接关系的新型扫视运动控制方法。实验表明，该方法使左右相机的平均定位误差分别仅为1.17°和1.14°，接近人类眼动精度，可用于探索人类视觉与当前计算机视觉方法在任务执行中的差异。
原文摘要 · Abstract (English)
We present DIJIT, a novel binocular robotic head expressly designed for mobile agents that behave as active observers. DIJIT's unique breadth of functionality enables active vision research and the study of human-like eye and head-neck motions, their interrelationships, and how each contributes to visual ability. DIJIT is also being used to explore the differences between how human vision employs eye/head movements to solve visual tasks and current computer vision methods. DIJIT's design features nine mechanical degrees of freedom, while the cameras and lenses provide an additional four optical degrees of freedom. The ranges and speeds of the mechanical design are comparable to human performance. DIJIT attains 85\% of the peak human saccade speed. Our design includes the ranges of motion required for convergent stereo, namely, vergence, version, and cyclotorsion. Here, we present DIJIT and some aspects of its performance. We also present a novel method for saccadic camera movements, using a direct relationship between camera orientation and motor values. The resulting saccadic camera movements are close to human movements in terms of their accuracy, with 1.17$^\circ$ and 1.14$^\circ$ mean error for the left and right cameras, respectively.
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