{'fraction_non_alphanumeric': 0.01953488372093023, 'fraction_numerical': 0.0065116279069767444, 'mean_word_length': 5.329411764705882, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A Humanoid Vision System for Interactive Robots

ESCHeR: A binocular active vision platform with space variant lenses has been developed. The custom built lenses provide 120 degrees field of view with maximum 7.7 times magnification in the fovea versus periphery. Two types of vision processes have been developed on this platform; (1) Motion segmentaiton based on optical flow, and (2) Stereo segmentation by zero disparity filtering based on a phase disparity method. Both processes produce feature maps with pixelwise confidence values, which are then fused together using the confidence values to produce robust estimation of the segmented target position and velocity. Integrated with a high performance gaze control based on Kalman filter, the entire system runs at frame rate. The system performs the task of detection and pursuit of moving deformable objects in cluttered environments without a-priori knowledge of the target shape, color, size, or texture. This system provides the important fundamental performance for intelligent robots which interact with humans.