TY - CHAP T1 - Depth Estimation during Fixational Head Movements in a Humanoid Robot T2 - Computer Vision Systems Y1 - 2013 A1 - Marco Antonelli A1 - Angel P. del Pobil A1 - Rucci, Michele ED - Chen, Mei ED - Leibe, Bastian ED - Neumann, Bernd AB -

Under natural viewing conditions, humans are not aware of continually performing small head and eye movements in the periods in between voluntary relocations of gaze. It has been recently shown that these fixational head movements provide useful depth information in the form of parallax. Here, we replicate this coordinated head and eye movements in a humanoid robot and describe a method for extracting the resulting depth information. Proprioceptive signals are interpreted by means of a kinematic model of the robot to compute the velocity of the camera. The resulting signal is then optimally integrated with the optic flow to estimate depth in the scene. We present the results of simulations which validate the proposed approach.

JF - Computer Vision Systems T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7963 SN - 978-3-642-39401-0 UR - http://dx.doi.org/10.1007/978-3-642-39402-7_27 ER -