Robust real-time tracking on an active vision head

Achieving the first step of a framework for human-robot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses.

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