Cameras

MiRo has stereo cameras, one in each eye. The cameras perform automatic image adjustment (e.g. exposure) and focus is fixed with a large depth of field.

MiRo's eyes are fixed in the head. Each camera has a horizontal/vertical field of view of 120/62 degrees and an aspect ratio of 16:9[1] (pixel aspect ratio is 1:1). The stereo overlap region is a little more than 60 degrees, and the two cameras together provide a wide horizontal field of view of nearly 180 degrees. See Geometry for access to numerical parameters of this arrangement.

[1] An aspect ratio of 4:3 is achieved by cropping symmetrically the left and right ends of the 16:9 image.