Biologically Motivated Vergence Control System Based on Stereo Saliency Map Model

Ban, Sang-Woo

doi:10.5772/4950

Cited by 3 publications

(2 citation statements)

References 26 publications

(26 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Peng et al 2000;Samarawickrama and Sabatini 2007) present an interesting and effective integration of vergence with saccadic movements and vestibulo-ocular reflexes. In Bana and Lee (2007) a saliency map is built on stereoscopic cues. The difference in the image position of the segmented features, interpreted as disparity, is used to correct the vergence position.…”

Section: Related Workmentioning

confidence: 99%

“…It is a common practice evaluating the performance of the vergence algorithms with respect to the first two features, only (Theimer and Mallot 1994;Ching et al 1995;Daniilidis et al 1996;Bernardino and SantosVictor 1998;Marfil et al 2003;Bana and Lee 2007;Tsang et al 2008;Shimonomura and Yagi 2010;Kyriakoulis et al 2010). Moreover, the problem of vergence elicited by retinal disparity is commonly cast as a horizontal one-dimensional (1D) problem, and the effectiveness of vergence control is shown with the eyes fixating straight-ahead.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

et al. 2016

View full text Add to dashboard Cite

In stereoscopic vision, the ability of perceiving the three-dimensional structure of the surrounding environment is subordinated to a precise and effective motor control for the binocular coordination of the eyes/cameras. If, on the one side, the binocular coordination of camera movements is a complicating factor, on the other side, a proper vergence control, acting on the binocular disparity, facilitates the binocular fusion and the subsequent stereoscopic perception process. In real-world situations, an effective vergence control requires further features other than real time capabilities: real robot systems are indeed characterized by mechanical and geometrical imprecision that affect the binocular vision, and the illumination conditions are changeable and unpredictable. Moreover, in order to allow an effective visual exploration of the peripersonal space, it is necessary to cope with different gaze directions and provide a large working space. The proposed control strategy resorts to a neuromimetic approach that provides a distributed representation of disparity information. trol, which directly interacts with saccadic control. Before saccade, the open-loop component is computed in correspondence of the saccade target region, to obtain a vergence correction to be applied simultaneously with the saccade. At fixation, the closed-loop component drives the binocular disparity to zero in a foveal region. The obtained vergence servos are able to actively drive both the horizontal and the vertical alignment of the optical axes on the object of interest, thus ensuring a correct vergence posture. Experimental tests were purposely designed to measure the performance of the control in the peripersonal space, and were performed on three different robot platforms. The results demonstrated that the proposed approach yields real-time and effective vergence camera movements on a visual stimulus in a wide working range, regardless of the illumination in the environment and the geometry of the system.

show abstract

Section: Related Workmentioning

confidence: 99%