Active estimation of distance in a robotic system that replicates human eye movement

Robotics and Autonomous Systems

Volumn 55, Issue 2, 2007, Pages 107-121

  Santini, Fabrizio ^a   Rucci, Michele ^a  

^a BOSTON UNIVERSITY   (United States)

Author keywords

3 D Vision; Biomorphic robotics; Depth from motion; Head eye system; Saccade; Stereopsis

Indexed keywords

CAMERAS; DISTANCE MEASUREMENT; EYE MOVEMENTS; IMAGE SEGMENTATION; INFORMATION ANALYSIS; MOBILE ROBOTS; MOTION PLANNING;

BIOMORPHIC ROBOTICS; DISTANCE ESTIMATION; STEREOPSIS;

ROBOTICS;

EID: 33846247062     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2006.07.001     Document Type: Article

References (56)

1. Ayache N. Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception (1991), MIT Press, Cambridge, MA, USA
2. Huang T., and Netravali A. Motion and structure from feature correspondences: A review. Proceedings of the IEEE 82 2 (1994) 252-268
3. Mitiche A. Computational Analysis of Visual Motion (1994), Plenum Press, New York, London
4. Mitiche A., and Letang J. Sterokinematic analysis of visual data in active convergent stereoscopy. Robotics and Autonomous Systems 25 (1998) 43-71
5. Faugeras O. The Geometry of Multiple Images: The Laws that Govern the Formation of Multiple Images of a Scene and Some of Their Applications (2001), MIT Press, Cambridge, MA, USA
6. Hartley R., and Zisserman A. Multiple View Geometry in Computer Vision (1994), Cambridge University Press, Cambridge, England
7. Weng J., Huang T., and Ahuja N. Motion and Structure From Image Sequences (1993), Springer-Verlag, New York, USA
8. Oliensis J. A critique of structure-from-motion algorithms. Computer Vision and Image Understanding 80 2 (2000) 172-214
9. Pentland A. A new sense for depth of field. IEEE Transactions on Pattern Analysis and Machine Intelligence 9 (1987) 523-531
10. Super B., and Bovik A. Shape from texture using local spectral moments. IEEE Transactions on Pattern Analysis and Machine Intelligence 17 4 (1995) 333-343
11. Zhang R., Tsai P., Cryer J., and Shah M. Shape from shading: A survey. IEEE Transactions on Pattern Analysis and Machine Intelligence 21 8 (1999) 690-706
12. Torralba A., and Oliva A. Depth estimation from image structure. IEEE Transactions on Pattern Analysis and Machine Intelligence 24 9 (2002) 1226-1238
13. Howard I., and Rogers B. Seeing in Depth (2002), I Porteous, Thornhill, Ontario, Canada
14. Westheimer G., and McKee S. Spatial configurations for visual hyperacuity. Vision Research 17 (1977) 941-947
15. Trotter Y., Celebrini S., Stricanne B., Thorpe S., and Imbert M. Neural processing of stereopsis as a function of viewing distance in primate visual cortical area V1. Journal of Neurophysiology 76 5 (1996) 2872-2885
16. Schreiber K., Crawford J.D., Fetter M., and Tweed D. The motor side of depth vision. Nature 410 6830 (2001) 819-822
17. Schreiber K.M., and Tweed D.B. Influence of eye position on stereo matching. Strabismus 11 1 (2003) 9-16
18. Nawrot M. Viewing distance, eye movements, and the perception of relative depth from motion parallax. Investigative Ophthalmology & Visual Science 41 4 (2000) S45
19. Nawrot M. Eye movements provide the extra-retinal signal required for the perception of depth from motion parallax. Vision Research 43 14 (2003) 1553-1562
20. Foley J.M., and Richards W. Effects of voluntary eye movement and convergence on the binocular appreciation of depth. Perception Psychophysics 11 (1972) 423-427
21. von Helmholtz H. In: Southall J.P.C. (Ed). Treatise on Physiological Optics 1909 (1962), Dover, New York, USA
22. Gibson E., Gibson J., Smith O., and Flock H. Motion parallax as a determinant of perceived depth. Journal of Experimental Psychology 58 (1959) 40-51
23. Land M. Fast-focus telephoto eye. Nature 373 (1995) 658-659
24. Pettigrew J., Collin S., and Ott M. Convergence of specialised behaviour, eye movements and visual optics in the sandlance (teleostei) and the chameleon (reptilia). Current Biology 9 8 (1999) 421-424
25. Hadami I., Ishai G., and Gur M. Visual stability and space perception in monocular vision: Mathematical model. Journal of the Optical Society of America A 70 (1980) 60-65
26. Mapp A., and Ono H. The rhino-optical phenomenon: Ocular parallax and the visible field beyond the nose. Vision Research 26 (1986) 1163-1165
27. Bingham G. Optical flow from eye movement with head immobilized: Ocular occlusion beyond the nose. Vision Research 33 5-6 (1993) 777-789
28. Bahill A., Adler D., and Stark L. Most naturally occurring human saccades have magnitudes of 15 degrees or less. Investigative Ophthalmology 14 6 (1975) 468-469
29. Jarvis R. A perspective on range-finding techniques for computer vision. IEEE Transactions on Pattern Analysis and Machine Intelligence 5 (1983) 122-139
30. Aloimonos Y., Weiss I., and Bandyopadhyay A. Active vision. International Journal of Computer Vision 2 (1988) 333-356
31. Bajcsy R. Active perception. Proceedings of the IEEE 76 8 (1988) 996-1005
32. Ballard D. Animate vision. Artificial Intelligence 48 (1991) 57-86
33. Klarquist W., and Bovik A. FOVEA: A foveated vergent active stereo vision system for dynamic three-dimensional scene recovery. IEEE Transactions on Robotics and Automation 14 5 (1998) 755-770
34. Bjorkman M., and Eklundh J. Real-time epipolar geometry estimation of binocular stereo heads. IEEE Transactions on Pattern Analysis and Machine Intelligence 24 3 (2002) 425-432
35. Rajagopalan A. Depth estimation and image restoration using defocused stereo pairs. IEEE Transactions on Pattern Analysis and Machine Intelligence 26 11 (2004) 1521-1525
36. Adiv G. Determining three-dimensional motion and structure from optical flow generated by several moving objects. IEEE Transactions on Pattern Analysis and Machine Intelligence 7 4 (1985) 384-401
37. Sandini G., and Tistarelli M. Active tracking strategy for monocular depth inference over multiple frames. IEEE Transactions on Pattern Analysis and Machine Intelligence 12 (1990) 13-27
38. Aloimonos Y., and Duric Z. Estimating the heading direction using normal flow. International Journal of Computer Vision 13 (1994) 33-56
39. Dalmia A., and Trivedi M. High-speed extraction of 3D structure of selectable quality using a translating camera. Computer Vision and Image Understanding 64 1 (1996) 97-110
40. Hung Y., and Ho H. A Kalman filter approach to direct depth estimation incorporating surface structure. IEEE Transactions on Pattern Analysis and Machine Intelligence 21 6 (1999) 570-575
41. Gullstrand A. Appendices to Part 1: The Optical System of the Eye (1909), Voss, Hamburg, Germany pp. 350-358
42. Mouroulis P., and MacDonald J. Geometrical Optics and Optical Design (1997), Oxford University Press, Oxford, England
43. Cumming B. An unexpected specialization for horizontal disparity in primate primary visual cortex. Nature 418 (2002) 633-636
44. Crane H., and Steele C. Generation V dual-purkinje-image eyetracker. Applied Optics 24 4 (1985) 527-537
45. Murakami I., and Cavanagh P. Stabilizing the visual world: A jitter aftereffect reveals motion-based correction. Nature 395 (1998) 798-801
46. Rucci M., Edelman G., and Wray J. Modeling LGN responses during free-viewing: A possible role of microscopic eye movements in the refinement of cortical orientation selectivity. Journal of Neuroscience 20 12 (2000) 4708-4720
47. Rucci M., and Desbordes G. Contributions of fixational eye movements to the discrimination of briefly presented stimuli. Journal of Vision 3 11 (2003) 852-864
48. Rucci M., and Casile A. Decorrelation of neural activity during fixational instability: Possible implications for the refinement of V1 receptive fields. Visual Neuroscience 21 (2004) 725-738
49. Steinman R., Haddad G., Skavenski A., and Wyman D. Miniature eye movement. Science 181 (1973) 810-819
50. Ditchburn R. Eye-movements and Visual Perception (1973), Oxford University Press, Oxford, England
51. Lehrer M., and Srinivasan M.V. Active vision in honeybees: Task-oriented suppression of an innate behaviour. Vision Research 34 4 (1994) 511-516
52. Dawkins M.S., and Woodington A. Pattern recognition and active vision in chickens. Nature 403 6770 (2000) 652-655
53. Findlay J. Active vision: visual activity in everyday life. Current Biology 8 18 (1998) 640-642
54. Lu Y., Zhang J., Wu Q., and Li Z. A survey of motion-parallax-based 3-D reconstruction algorithms. IEEE Transactions on System, Man and Cybernetics C 34 4 (2004) 532-548
55. Rucci M., Edelman G., and Wray J. Adaptation of orienting behavior: From the barn owl to a robotic system. IEEE Transactions on Robotics and Automation 15 1 (1999) 96-110
56. Rucci M., Wray J., and Edelman G. Robust localization of auditory and visual targets in a robotic barn owl. Robotics and Autonomous Systems 1-2 (2000) 181-194