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

2. Nico

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

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

5. Epipolar Geometry in a Nutshell
Epipole
Epipolar Line
Cameras
Positioning
Orientation

6. 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

7. Epipolar Kinematic Model

8. Results
Left camera image
Right camera image, with epipolar lines

9. Kinematics

10. Neck Joints

11. Some Projective Geometry Formulas