Virtual Reality to Simulate Visual Tasks for Robotic Systems

Chessa, Manuela; Solari, Fabio; Sabatini, Silvio P.

doi:10.5772/12875

Cited by 9 publications

(7 citation statements)

References 36 publications

(37 reference statements)

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“…Notably, the proposed setup allows us to obtain the ground-truth disparity falling on the retinas. In fact, the virtual reality simulator was specifically implemented modifying the toe-it technique to mimic the binocular eye posture of the human visual system 86 , thus considering eye convergence and cyclotorsion 27 . The proposed approach allowed us to collect statistics of binocular disparity experienced by an observer during free exploration of natural environments in near viewing.…”

Section: Methodsmentioning

confidence: 99%

“…To this purpose, we implemented a virtual simulator that satisfies the requirements imposed by an active vision system. The virtual reality tool simulates the vergence movements of two cameras on a point in space 86 , allowing us to compute the horizontal and vertical ground-truth disparity maps. The software is based on a C++/OpenGL architecture and on the Coin3D graphic toolkit ( www.coin3D.org ).…”

Section: Methodsmentioning

confidence: 99%

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The Active Side of Stereopsis: Fixation Strategy and Adaptation to Natural Environments

Gibaldi

Canessa

Sabatini

2017

Sci Rep

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Depth perception in near viewing strongly relies on the interpretation of binocular retinal disparity to obtain stereopsis. Statistical regularities of retinal disparities have been claimed to greatly impact on the neural mechanisms that underlie binocular vision, both to facilitate perceptual decisions and to reduce computational load. In this paper, we designed a novel and unconventional approach in order to assess the role of fixation strategy in conditioning the statistics of retinal disparity. We integrated accurate realistic three-dimensional models of natural scenes with binocular eye movement recording, to obtain accurate ground-truth statistics of retinal disparity experienced by a subject in near viewing. Our results evidence how the organization of human binocular visual system is finely adapted to the disparity statistics characterizing actual fixations, thus revealing a novel role of the active fixation strategy over the binocular visual functionality. This suggests an ecological explanation for the intrinsic preference of stereopsis for a close central object surrounded by a far background, as an early binocular aspect of the figure-ground segregation process.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

The Active Side of Stereopsis: Fixation Strategy and Adaptation to Natural Environments

Gibaldi

Canessa

Sabatini

2017

Sci Rep

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“…As mentioned before, our approach is suitable for working with active vision systems. We also test our implementations with our own benchmark images especially plotted to test the vector disparity accuracy and some images from an on-line set of benchmarks available at [ 50 ]. The benchmarking is performed for the hardware and software approaches to compare also the accuracy degradation due to the fixed-point arithmetic adopted in the hardware implementation.…”

Section: Discussion Of Resultsmentioning

confidence: 99%

Vector Disparity Sensor with Vergence Control for Active Vision Systems

Barranco

Díaz

Gibaldi

et al. 2012

Sensors

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This paper presents an architecture for computing vector disparity for active vision systems as used on robotics applications. The control of the vergence angle of a binocular system allows us to efficiently explore dynamic environments, but requires a generalization of the disparity computation with respect to a static camera setup, where the disparity is strictly 1-D after the image rectification. The interaction between vision and motor control allows us to develop an active sensor that achieves high accuracy of the disparity computation around the fixation point, and fast reaction time for the vergence control. In this contribution, we address the development of a real-time architecture for vector disparity computation using an FPGA device. We implement the disparity unit and the control module for vergence, version, and tilt to determine the fixation point. In addition, two on-chip different alternatives for the vector disparity engines are discussed based on the luminance (gradient-based) and phase information of the binocular images. The multiscale versions of these engines are able to estimate the vector disparity up to 32 fps on VGA resolution images with very good accuracy as shown using benchmark sequences with known ground-truth. The performances in terms of frame-rate, resource utilization, and accuracy of the presented approaches are discussed. On the basis of these results, our study indicates that the gradient-based approach leads to the best trade-off choice for the integration with the active vision system.

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“…Different aspects of such a simulation system were also subject of related work, e.g. Reiner et al (2008) focused on modeling different real world luminainares, Chessa et al (2011) proposed a system for creation of synthetic ground truth data for stereo vision systems using virtual reality technology. In contrast to this related work, our work mainly deals with modeling the reflectance properties of materials as good as possible by using the methods described in Section 2.2.…”

Section: Synthetic Ground Truth Data For Machine Vision Applicationsmentioning

confidence: 99%

Reflectance Modeling in Machine Vision: Applications in Image Analysis and Synthesis

Gruna¹,

Irgenfried²

2012

Machine Vision - Applications and Systems

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Virtual Reality to Simulate Visual Tasks for Robotic Systems

Cited by 9 publications

References 36 publications

The Active Side of Stereopsis: Fixation Strategy and Adaptation to Natural Environments

The Active Side of Stereopsis: Fixation Strategy and Adaptation to Natural Environments

Vector Disparity Sensor with Vergence Control for Active Vision Systems

Reflectance Modeling in Machine Vision: Applications in Image Analysis and Synthesis

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