An Active System for Visually-Guided Reaching in 3D across Binocular Fixations. (4th February 2014)

• Record Type: Journal Article
• Authors: Martinez-Martin, Ester; del Pobil, Angel P.; Chessa, Manuela; Solari, Fabio; Sabatini, Silvio P.
• Other Names: Chen L. Academic Editor.; Du J.-X. Academic Editor.; Gao K. Academic Editor.; Jiang Y. Academic Editor.; Moreno del Pozo J. Academic Editor.; Su W. Academic Editor.
• Is Part Of: TheScientificWorldjournal. Volume 2014(2014)
• Publication Date: 2014-02-04
• Subjects: Science -- Periodicals; Technology -- Periodicals; Medicine -- Periodicals; 505
• DOI: 10.1155/2014/179391
• Languages: English
• ISSNs: 2356-6140

Abstract

Abstract : 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.