On perceptual advantages of eye-head active control
The paper presents a theoretical study on the perceptual advantages related to the active control of a binocular vision system. In particular the presentation focuses on the process of improving perception, a task strategically important in humans and many vertebrates. The analysis is based on an anthropomorphic system; the sensitivity of the transformation from world to camera coordinates is used as a cost function for driving the movements of the eye-head system. The control strategy obtained in this way allows to formally motivate, outside of a purely behavioral context, some relevant aspects of the biological vision like fixation, vergence and eye-head compensation.
Keywordsrobot vision eye-head coordination vision based control
Unable to display preview. Download preview PDF.
- 1.J. Aloimonos, I. Weiss, and A. Bandyopadhyay. Active vision. International Journal of Computer Vision, 1(4):333–356, 1988.Google Scholar
- 2.R. K. Bajcsy. Active perception vs passive perception. In Proc. Third IEEE Computer Society Workshop on Computer Vision: Representation and Control, pages 13–16, Bellaire, MI, 1985.Google Scholar
- 3.D.H. Ballard and C. M. Brown. Principles of animate vision. CVGIP, 56(1):3–21, July 1992.Google Scholar
- 4.G. Cannata and E. Grosso. Active eye-head control. Technical Report LIRA-Lab TR-4-93, University of Genova, Genova, Italy, October 1993.Google Scholar
- 5.B. Espiau, F. Chaumette, and P. Rives. A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation, 8(3):313–326, June 1992.Google Scholar
- 6.G. H. Golub and C. F. Van Loan. Matrix Computations. The John Hopkins University Press, Baltimore, USA, 1989.Google Scholar
- 7.E. Grosso and D.H. Ballard. Head-centered orientation strategies in animate vision. In 3rd Internatiional Conference on Computer Vision, Berlin Germany, 1993.Google Scholar
- 8.E. Grosso, M. Tistarelli, and G. Sandini. Active/dynamic stereo for navigation. In Proc. of Second European Conference on Computer Vision, S. Margherita Ligure, Italy, May 1992.Google Scholar
- 9.B. K. P. Horn. Robot Vision. MIT Press, Cambridge, USA, 1986.Google Scholar
- 10.A.J. Koivo. Fundamentals of Robotic Manipulators. Wiley, New York — NY, USA, 1989.Google Scholar
- 11.N.P. Papanikolopoulos, P.K. Khosla, and T. Kanade. Visual tracking of a moving target by a camera mounted on a robot: A combination of control and vision. IEEE Trans. Robotics Automation, 9(1):14–35, 1993.Google Scholar
- 12.G. Toscani and O.D. Faugeras. The calibration problem for stereo. In IEEE Conference on Comp. Vision and Pattern Recognition, Miami FL, USA, 1986. IEEE Comp. Soc.Google Scholar