An Active System for Visually-Guided Reaching in 3D Across Binocular Fixations

TitleAn Active System for Visually-Guided Reaching in 3D Across Binocular Fixations
Publication TypeJournal Article
Year of Publication2014
AuthorsMartinez-Martin, E, del Pobil, AP, Chessa, M, Solari, F, Sabatini, SP
JournalThe Scientific World Journal
Volume2014
Date Published02/2014
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.