Active Estimation of Distance in a Robotic Vision System that Replicates Human Eye Movement

Many visual cues, both binocular and monocular, provide 3D information. When an agent moves with respect to a scene, an important cue is the different motion of objects located at various distances. While a motion parallax is evident for large translations of the agent, in most head/eye systems a small parallax occurs also during rotations of the cameras. A similar parallax is present also in the human eye. During a relocation of gaze, the shift in the retinal projection of an object depends not only on the amplitude of the movement, but also on the distance of the object with respect to the observer. This study proposes a method for estimating distance on the basis of the parallax that emerges from rotations of a camera. A pan/tilt system specifically designed to reproduce the oculomotor parallax present in the human eye was used to replicate the oculomotor strategy by which humans scan visual scenes. We show that the oculomotor parallax provides accurate estimation of distance during sequences of eye movements. In a system that actively scans a visual scene, challenging tasks such as image segmentation and figure/ground segregation greatly benefit from this cue.National Science Foundation (BIC-0432104, CCF-0130851

Evolution of visual processing

The distribution of eyes, their anatomy and the visual behaviour that they make possible, are well documented in comprehensive texts, of which several are referenced with an asterisk("") at the end of this article . Here I will endeavour to draw attention to a few general principles that apply to the simpler examples of natural visual processing so far as we know it in invertebrates, and to our primitive efforts to copy low-level natural vision into artificial systems . These principles apply to a very large number of scattered examples of eye types and to a wide variety of visual behaviour, but most of the data actually refer to insect vision, which is reasonably well known

Flow Imaging Using MRI: Quantification and Analysis

A complex and challenging problem in flow study is to obtain quantitative flow information in opaque systems, for example, blood flow in biological systems and flow channels in chemical reactors. In this regard, MRI is superior to the conventional optical flow imaging or ultrasonic Doppler imaging. However, for high speed flows, complex flow behaviors and turbulences make it difficult to image and analyze the flows. In MR flow imaging, MR tagging technique has demonstrated its ability to simultaneously visualize motion in a sequence of images. Moreover, a quantification method, namely HARmonic Phase (HARP) analysis, can extract a dense velocity field from tagged MR image sequence with minimal manual intervention. In this work, we developed and validated two new MRI methods for quantification of very rapid flows. First, HARP was integrated with a fast MRI imaging method called SEA (Single Echo Acquisition) to image and analyze high velocity flows. Second, an improved HARP method was developed to deal with tag fading and data noise in the raw MRI data. Specifically, a regularization method that incorporates the law of flow dynamics in the HARP analysis was developed. Finally, the methods were validated using results from the computational fluid dynamics (CFD) and the conventional optimal flow imaging based on particle image velocimetry (PIV). The results demonstrated the improvement from the quantification using solely the conventional HARP method