TY - CONF T1 - New eyes for robotics T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings Y1 - 2003 A1 - Baker, P. A1 - Ogale, A. S A1 - Fermüller, Cornelia A1 - Aloimonos, J. KW - 3D motion estimation KW - Argus eye KW - array signal processing KW - Birds KW - Calibration KW - CAMERAS KW - Control systems KW - Eyes KW - geometric configuration KW - imaging KW - imaging system KW - Layout KW - Motion estimation KW - multiple stereo configurations KW - Robot kinematics KW - robot vision KW - Robot vision systems KW - ROBOTICS KW - Robotics and automation KW - SHAPE KW - shape models AB - This paper describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system's own motion and consequently the estimation of shape models from the individual cameras. The reason is that inherent ambiguities of confusion between translation and rotation disappear. Pairs of cameras may also be arranged in multiple stereo configurations which provide additional advantages for segmentation. Algorithms for the calibration of the system and the 3D motion estimation are provided. JA - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings PB - IEEE VL - 1 SN - 0-7803-7860-1 M3 - 10.1109/IROS.2003.1250761 ER -