Real-time binocular smooth pursuit

Coombs, David; Brown, Christopher M.

doi:10.1007/bf01469226

Cited by 107 publications

(36 citation statements)

References 25 publications

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“…One technique that determines whether an object is present at the gaze point is by using a zerodisparity filter (ZDF) as proposed in [3]. It is known that objects at or near gaze point appear with zero disparity between the left and right fovea since they are of the same depth.…”

Section: Zero-disparity Filtermentioning

confidence: 99%

Interactive skills using active gaze tracking

Atienza

Zelinsky

2003

Proceedings of the 5th International Conference on Multimodal Interfaces

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We have incorporated interactive skills into an active gaze tracking system. Our active gaze tracking system can identify an object in a cluttered scene that a person is looking at. By following the user's 3-D gaze direction together with a zero-disparity filter, we can determine the object's position. Our active vision system also directs attention to a user by tracking anything with both motion and skin color. A Particle Filter fuses skin color and motion from optical flow techniques together to locate a hand or a face in an image. The active vision then uses stereo camera geometry, Kalman Filtering and position and velocity controllers to track the feature in real-time. These skills are integrated together such that they cooperate with each other in order to track the user's face and gaze at all times. Results and video demos provide interesting insights on how active gaze tracking can be utilized and improved to make human-friendly user interfaces.

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Section: Zero-disparity Filtermentioning

confidence: 99%

Interactive skills using active gaze tracking

Atienza

Zelinsky

2003

Proceedings of the 5th International Conference on Multimodal Interfaces

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“…The second group of approaches in object pursuit is based on other cues and a priori knowledge about the object form. Coombs and Brown [14] demonstrated binocular smooth pursuit on objects with vertical edges with a control rate of 7.5 Hz. Vergence movements are computed using zero-disparity filtering.…”

Section: Related Workmentioning

confidence: 99%

Real-Time Tracking of Moving Objects with an Active Camera

et al. 1998

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T his article is concerned with the design and implementation of a system for real-time monocular tracking of a moving object using the two degrees of freedom of a camera platform. Figure-ground segregation is based on motion without making any a priori assumptions about the object form. Using only the first spatiotemporal image derivatives, subtraction of the normal optical flow induced by camera motion yields the object image motion. Closed-loop control is achieved by combining a stationary Kalman estimator with an optimal Linear Quadratic Regulator. The implementation on a pipeline architecture enables a servo rate of 25 Hz. We study the effects of time-recursive filtering and fixed-point arithmetic in image processing and we test the performance of the control algorithm on controlled motion of objects.

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“…In a dynamic scene (e.g. moving objects or egomotion) the vergence angle can be actively exploited in smooth pursuit tasks, to improve the segmentation capabilities of a moving object (Coombs and Brown 1993;Bernardino and Santos-Victor 1998;Choi et al 2003), like a robot hand (Dankers et al 2007), to continuously estimate the epipolar geometry of the vision system (Bjorkman and Eklundh 2002; Pauwels and Van Hulle 2012) and to improve its estimation (Monaco et al 2009), as well as for navigation purpose (Konolige 1998;Knight and Reid 2006).…”

Section: Introductionmentioning

confidence: 99%

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

et al. 2016

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In stereoscopic vision, the ability of perceiving the three-dimensional structure of the surrounding environment is subordinated to a precise and effective motor control for the binocular coordination of the eyes/cameras. If, on the one side, the binocular coordination of camera movements is a complicating factor, on the other side, a proper vergence control, acting on the binocular disparity, facilitates the binocular fusion and the subsequent stereoscopic perception process. In real-world situations, an effective vergence control requires further features other than real time capabilities: real robot systems are indeed characterized by mechanical and geometrical imprecision that affect the binocular vision, and the illumination conditions are changeable and unpredictable. Moreover, in order to allow an effective visual exploration of the peripersonal space, it is necessary to cope with different gaze directions and provide a large working space. The proposed control strategy resorts to a neuromimetic approach that provides a distributed representation of disparity information. trol, which directly interacts with saccadic control. Before saccade, the open-loop component is computed in correspondence of the saccade target region, to obtain a vergence correction to be applied simultaneously with the saccade. At fixation, the closed-loop component drives the binocular disparity to zero in a foveal region. The obtained vergence servos are able to actively drive both the horizontal and the vertical alignment of the optical axes on the object of interest, thus ensuring a correct vergence posture. Experimental tests were purposely designed to measure the performance of the control in the peripersonal space, and were performed on three different robot platforms. The results demonstrated that the proposed approach yields real-time and effective vergence camera movements on a visual stimulus in a wide working range, regardless of the illumination in the environment and the geometry of the system.

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Real-time binocular smooth pursuit

Cited by 107 publications

References 25 publications

Interactive skills using active gaze tracking

Interactive skills using active gaze tracking

Real-Time Tracking of Moving Objects with an Active Camera

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

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