Martinez-Martin Ester, del Pobil Angel P, Chessa Manuela, Solari Fabio, Sabatini Silvio P
Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, Spain.
Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, Spain ; Interaction Science Department, Sungkyunkwan University, Seoul 110-745, Republic of Korea.
ScientificWorldJournal. 2014 Feb 4;2014:179391. doi: 10.1155/2014/179391. eCollection 2014.
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.
基于物体间相对视差对于精确手眼协调的重要性，本文提出了一种受皮层神经结构启发的生物学方法。因此，运动信息是在从视觉信息（图像坐标）的自我中心表示生成的空间（视差方面）的非自我中心表示中获得的自我中心坐标中编码的。通过这种方式，视觉运动协调的不同方面得以整合：一个由两个会聚相机组成的主动视觉系统；一个基于通过一组Gabor滤波器进行的相位差局部估计的二维双目视差估计模块；以及一个执行相应任务（视觉引导抓取）的机器人执行器。通过对模拟数据和真实数据进行实验来评估该方法的性能。
