This paper presents the design and control aspects of the Harvard Stereo Robotic Head, a camera-head system. Active vision research suggests the use of sensor movement. The emphasis of this paper is on the physical aspects of controlling camera movements and lens parameters, not on the selection of visual targets. The system provides a testbed for active stereo-vision and motion-vision experiments.
Nicola J. Ferrier,
"Harvard binocular head", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992); doi: 10.1117/12.58557; https://doi.org/10.1117/12.58557