Smart-Eyes system is a three-camera system, with a wide-view global camera performing general monitoring of events and active binocular stereo cameras fixating at particular events of interest – salient events. The monitoring camera is fixed and its visual field is adjusted to overlook the whole surveying area. Detection of salient events takes place in the global view of the monitoring camera. The active stereo cameras are then guided to focus at detected salient events and to acquire their close view record. Together, the three cameras comprise an integrated Smart Eyes system acting in a coordinated “recognition action” loop.
Smart Eyes is a general purpose monitoring system which does not require task specific tuning. Once set up, the system routinely observes events taking place in the view field of the monitoring camera, learning typical appearances and motion patterns of objects. If an unusual event occurs in surveying area, the visual system detects an object displaying this salient behaviour and the binocular cameras fixate at the salient object. This fixation is reminiscent of foveal vision in humans: the object is zoomed and centred in the visual field of both cameras and their vergence is adjusted accordingly. The active camera pair then follows object’s motion guided by the visual driven coordination of both cameras so as to keep the object fixation.
Depending on the content of the application scenario, the system may categorize the salient object, follow its action, zoom particular object’s parts if it is necessary for recognition of its specific actions.
Smart Eyes
Technical data
General features:
Trinocular vision system with fixed camera and pan-tilt and vergence stereovision positioning device.
- Height: 40 cm
- Width: 43 cm
- Depth: 29 cm
- Weight: 6.5 Kg + about 2 Kg electronic box
- Baseline: 30 cm
| Pan eyes | Pan neck | Tilt neck | |
|---|---|---|---|
| Limits: | ± 30º (Software limit) | ± 10º(Software limit) | ± 60º(Software limit) |
| Acceleration: | 5100º/sec² | 1600º/sec² | 2100º/sec² |
| Max. speed: | 330º/sec | 73º/sec | 73º/sec |
| Resolution: | 0.03º | 0.007º | 0.007º |
| Optical encoder: | 512 pulses/revolution | 512 pulses/revolution | 512 pulses/revolution |
| Motor voltage: | 12 V | 12 V | 12 V |
| Gear ratio: | 1:80 | 1:80 | 1:80 |
| Motor torque: | 0.59 Nm | 0.59 Nm | 0.59 Nm |
| Backlash: | < 1 arc min | < 1 arc min | < 1 arc min |
Cameras and optics:
Global:
- Resolution: 1624 x 1236 pixels
- Sensor area: 7.1 x 5.4 mm
- Pixel size: 4.4 x 4.4 um
- Focal length: 4.8 mm (short range), FOV 73º
- Focal length: 12.5 mm (long range), FOV 31º
Stereo:
- Resolution: 1392 x 1040 pixels
- Sensor area: 6.4 x 4.8 mm
- Pixel size: 4.65 x 4.65 um
- Focal length: 7.3 - 117 mm, FOV 47º - 3º
