Estimating the Kinematics of Unseen Joints that Affect the Vision System Justin Hart, Brian Scassellati, Steven Zucker Department of Computer Science Yale University

Nico

Robotic Self-Modeling Sensory Systems Kinematics Causal Modeling Photo Credit: Jeremiah Owyang

Stereo Vision in a Nutshell Pinhole Camera Model Camera Center Stereo Correspondence Epipolar Geometry Pinhole Camera Illustration Credit: Wikimedia Commons

Epipolar Geometry in a Nutshell Epipole Epipolar Line Cameras Positioning Orientation

Nico's Head Nico's eyes Majority approaches Other approaches Yaw independently Majority approaches Assume fixed epipolar geometry Assume unknown epipolar geometry Other approaches Compute ego-motion visually Hand/Head-eye calibration

Epipolar Kinematic Model

Results Left camera image Right camera image, with epipolar lines

Kinematics

Neck Joints

Some Projective Geometry Formulas