A Portable Active Binocular Robot Vision Architecture for Scene Exploration

We present a portable active binocular robot vision architecture that integrates a number of visual behaviours. This vision architecture inherits the abilities of vergence, localisation, recognition and simultaneous identification of multiple target object instances. To demonstrate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binocular robot vision architecture achieved average recognition rates of 93.5% for fronto-parallel viewpoints and, 83% percentage for anthropomorphic viewpoints, respectively.