TRICLOPS: A High-Performance Trinocular Active Vision System

The design, performance, and application of The Realtime, Intelligently ControLled, Optical Positioning System (TRICLOPS) are described in this paper. TRICLOPS is a multiresolution trinocular camera-pointing system which provides a center wide-angle view camera and two higherresolution vergence cameras. It is a four degree-offreedom direct-drive system which exhibits dynamic performance comparable to the human visual system. The vergence degrees offreedom can achieve peak velocities in excess of 30 r d s , andpeak accelerations of 1100 ra&. In an example of visual tracking, TRICLOPS is shown to be capable offollowing a ball moving at 3 m/s, with rotational velocities of the vergence axes in excess of 6 r d s .