A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits regularities in the geometry of 3D space to obtain this information. These regularities introduce rotation-translation couplings that are not commonly used in structure from motion. To validate, we use a Franka Emika Robot with an RGB camera. We a) find that error in distance estimate is less than 5 mm at a distance of 15 cm, and b) show how relative position can be used to find obstacles under challenging scenarios. We combine accurate distance estimates and obstacle information into a reactive robot behavior that is able to pick up objects of unknown size, while impeded by unforeseen obstacles. Project page: https://oxidification.com/p/one-object-at-a-time/ .

翻译：凝视固定的机器人能够立即、精确且鲁棒地感知被固定物体的距离以及周围物体的相对位置。我们展示了注视行为（即在运动过程中注视一个物体）如何利用三维空间几何中的规律性来获取这些信息。这些规律性引入了在运动恢复结构中不常用的旋转-平移耦合关系。为验证该方法，我们采用了配备RGB摄像头的Franka Emika机器人。实验表明：a) 在15厘米距离下，距离估计误差小于5毫米；b) 展示了在挑战场景中如何利用相对位置信息发现障碍物。我们结合精确的距离估计与障碍物信息，使机器人能够在受意外障碍物影响时执行应对未知尺寸物体的抓取行为。项目页面：https://oxidification.com/p/one-object-at-a-time/。