An Active System for Visually-Guided Reaching in 3D across Binocular Fixations
Based on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the s...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
|
| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/179391 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832568415952306176 |
|---|---|
| author | Ester Martinez-Martin Angel P. del Pobil Manuela Chessa Fabio Solari Silvio P. Sabatini |
| author_facet | Ester Martinez-Martin Angel P. del Pobil Manuela Chessa Fabio Solari Silvio P. Sabatini |
| author_sort | Ester Martinez-Martin |
| collection | DOAJ |
| description | Based on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the space (in terms of disparity) generated from the egocentric representation of the visual information (image coordinates). In that way, the different aspects of the visuomotor coordination are integrated: an active vision system, composed of two vergent cameras; a module for the 2D binocular disparity estimation based on a local estimation of phase differences performed through a bank of Gabor filters; and a robotic actuator to perform the corresponding tasks (visually-guided reaching). The approach’s performance is evaluated through experiments on both simulated and real data. |
| format | Article |
| id | doaj-art-256d37e6e1c34bfe92f6c64608b5d4d4 |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-256d37e6e1c34bfe92f6c64608b5d4d42025-02-03T00:59:03ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/179391179391An Active System for Visually-Guided Reaching in 3D across Binocular FixationsEster Martinez-Martin0Angel P. del Pobil1Manuela Chessa2Fabio Solari3Silvio P. Sabatini4Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, SpainRobotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, SpainDepartment of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, ItalyDepartment of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, ItalyDepartment of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, ItalyBased on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the space (in terms of disparity) generated from the egocentric representation of the visual information (image coordinates). In that way, the different aspects of the visuomotor coordination are integrated: an active vision system, composed of two vergent cameras; a module for the 2D binocular disparity estimation based on a local estimation of phase differences performed through a bank of Gabor filters; and a robotic actuator to perform the corresponding tasks (visually-guided reaching). The approach’s performance is evaluated through experiments on both simulated and real data.http://dx.doi.org/10.1155/2014/179391 |
| spellingShingle | Ester Martinez-Martin Angel P. del Pobil Manuela Chessa Fabio Solari Silvio P. Sabatini An Active System for Visually-Guided Reaching in 3D across Binocular Fixations The Scientific World Journal |
| title | An Active System for Visually-Guided Reaching in 3D across Binocular Fixations |
| title_full | An Active System for Visually-Guided Reaching in 3D across Binocular Fixations |
| title_fullStr | An Active System for Visually-Guided Reaching in 3D across Binocular Fixations |
| title_full_unstemmed | An Active System for Visually-Guided Reaching in 3D across Binocular Fixations |
| title_short | An Active System for Visually-Guided Reaching in 3D across Binocular Fixations |
| title_sort | active system for visually guided reaching in 3d across binocular fixations |
| url | http://dx.doi.org/10.1155/2014/179391 |
| work_keys_str_mv | AT estermartinezmartin anactivesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT angelpdelpobil anactivesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT manuelachessa anactivesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT fabiosolari anactivesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT silviopsabatini anactivesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT estermartinezmartin activesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT angelpdelpobil activesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT manuelachessa activesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT fabiosolari activesystemforvisuallyguidedreachingin3dacrossbinocularfixations AT silviopsabatini activesystemforvisuallyguidedreachingin3dacrossbinocularfixations |