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Biologically Motivated Modeling and Imitating the Chameleon's Vision System

Biologically Motivated Modeling and Imitating the Chameleon's Vision SystemBy: Ofir Avni

This thesis takes the biologically motivated approach with regard to the visual system of the chameleon. The chameleon has a unique visual system, in which the two eyes scan independently the environment. In the rst part of this work, a complex and innovative computer vision system, which uses cameras and mirrors, is designed and implemented in order to track the direction of the eyes of chameleons. In this part the problem of pose estimation with multiple cameras and mirrors is formulated and solved. The problem is formulated as a minimization problem of the three-dimensional geometric errors given the location of features found in the image and their three-dimensional model. The direction of the eyes is found by founding the eyelid in the image, and based on a geometric model of the eye. Preliminary results from this part, which includes biological experiments, indicates that chameleons scan the environment using a "negative correlation" strategy. That is, when one eye scans forward, the other, with high probability, scans backwards. 



Thesis: [PDF]