Patent ID: 8693729
Filing Date: 2014-04-08
Classification: G06K,G06T

Abstract:
1. A system for robot control comprising: a computer, a first eye camera, a second eye camera, and at least one target; the first eye camera with a first field of view, a first horizontal pixel value and a first vertical pixel value of the at least one target location in the first field of view, a first pan angle and a first tilt angle, wherein the first pan angle and the first tilt angle are commands to point the first eye camera; the second eye camera with a second field of view, a second horizontal and a second vertical pixel values of the at least one target location in the second field of view, a second pan angle and a second tilt angle, wherein the second pan angle and the second tilt angle are commands to point the second eye camera; wherein the computer is programmed to store; current first eye camera pan and tilt angle commands to point the first eye camera at the at least one target, current second eye camera pan and tilt angle commands to point the second eye camera at the at least one target; coordinates of the target in an eye centered coordinate representation and in a head centered coordinate representation; wherein the eye centered coordinate representation comprises; a first horizontal pixel value and a first vertical pixel value of the at least one target in the first eye camera; and a second horizontal pixel value and a second vertical pixel value of the at least one target in the second eye camera; wherein the head centered coordinate representation comprises four head coordinates; wherein the first head coordinate is derived from the first eye camera pan angle and the second eye camera pan angle wherein the first eye camera and the second eye camera are verging on the at least one target; wherein the second head coordinate is derived from the first eye camera tilt angle and the second eye camera tilt angle wherein the first eye camera and the second eye camera are verging on the at least one target; wherein the third head coordinate is derived from the difference of the first eye camera pan angle less the second eye camera pan angle wherein the first eye camera and the second eye camera are verging on the at least one target; wherein the fourth head coordinate is derived from the difference of the first eye camera tilt angle less the second eye camera tilt angle wherein the first eye camera and second eye camera are verging on the at least one target; wherein the computer is also programmed to learn a mapping between the eye centered coordinate representation and the head centered coordinate representation.