On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots

This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closedform hand-to-eye solution. We then present an approach for updating dynamically camera external parameters for optimal 3D reconstruction that are the foundation for robotic tasks such as grasping and manipulating rigid and deformable objects. We show from experimental results that our robot head achieves an overall sub millimetre accuracy of less than 0.3 millimetres while recovering the 3D structure of a scene. In addition, we report a comparative study between current RGBD cameras and our active stereo head within two dual-arm robotic testbeds that demonstrates the accuracy and portability of our proposed methodology

Two independent mechanisms for motion-in-depth perception : evidence from individual differences

Our forward-facing eyes allow us the advantage of binocular visual information: using the tiny differences between right and left eye views to learn about depth and location in three dimensions. Our visual systems also contain specialized mechanisms to detect motion-in-depth from binocular vision, but the nature of these mechanisms remains controversial. Binocular motion-in-depth perception could theoretically be based on first detecting binocular disparity and then monitoring how it changes over time. The alternative is to monitor the motion in the right and left eye separately and then compare these motion signals. Here we used an individual differences approach to test whether the two sources of information are processed via dissociated mechanisms, and to measure the relative importance of those mechanisms. Our results suggest the existence of two distinct mechanisms, each contributing to the perception of motion-in-depth in most observers. Additionally, for the first time, we demonstrate the relative prevalence of the two mechanisms within a normal population. In general, visual systems appear to rely mostly on the mechanism sensitive to changing binocular disparity, but perception of motion-in-depth is augmented by the presence of a less sensitive mechanism that uses interocular velocity differences. Occasionally, we find observers with the opposite pattern of sensitivity. More generally this work showcases the power of the individual differences approach in studying the functional organization of cognitive systems.Publisher PDFPeer reviewe

Spatial constraints of stereopsis in video displays

Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays

Engineering data compendium. Human perception and performance. User's guide

The concept underlying the Engineering Data Compendium was the product of a research and development program (Integrated Perceptual Information for Designers project) aimed at facilitating the application of basic research findings in human performance to the design and military crew systems. The principal objective was to develop a workable strategy for: (1) identifying and distilling information of potential value to system design from the existing research literature, and (2) presenting this technical information in a way that would aid its accessibility, interpretability, and applicability by systems designers. The present four volumes of the Engineering Data Compendium represent the first implementation of this strategy. This is the first volume, the User's Guide, containing a description of the program and instructions for its use

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task

Vision and Reading Difficulties Part 5: Clinical protocol and the role of the eye-care practitioner

This series of articles has described various aspects of visual characteristics of reading difficulties and the background behind techniques such as the use of coloured filters in helping to reduce the difficulties that are experienced. The present article, which is the last in series, aims to describe a clinical protocol that can be used by the busy eye care practitioner for the investigation and management of such patients. It also describes the testing techniques that can be used for the various assessments. Warning: DO NOT LOOK AT FIGURE 7 IF YOU HAVE MIGRAINE OR EPILEPSY

Aerospace medicine and biology: A continuing bibliography with indexes, supplement 204

This bibliography lists 140 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1980

Perceived Acceleration in Stereoscopic Animation

In stereoscopic media, a sensation of depth is produced through the differences of images presented to the left and the right eyes. These differences are a result of binocular parallax caused by the separation of the cameras used to capture the scene. Creators of stereoscopic media face the challenge of producing compelling depth while restricting the amount of parallax to a comfortable range. Control of camera separation is a key manipulation to control parallax. Sometimes, stereoscopic warping is used in post-production process to selectively increase or decrease depth in certain regions of the image. However, mismatches between camera geometry and natural stereoscopic geometry can theoretically produce nonlinear distortions of perceived space. The relative expansion or compression of the stereoscopic space, in theory, should affect the perceived acceleration of objects moving through that space. This thesis suggests that viewers are tolerant of effects of distortions when perceiving acceleration in a stereoscopic scene

Computing motion in the primate's visual system

Computing motion on the basis of the time-varying image intensity is a difficult problem for both artificial and biological vision systems. We will show how one well-known gradient-based computer algorithm for estimating visual motion can be implemented within the primate's visual system. This relaxation algorithm computes the optical flow field by minimizing a variational functional of a form commonly encountered in early vision, and is performed in two steps. In the first stage, local motion is computed, while in the second stage spatial integration occurs. Neurons in the second stage represent the optical flow field via a population-coding scheme, such that the vector sum of all neurons at each location codes for the direction and magnitude of the velocity at that location. The resulting network maps onto the magnocellular pathway of the primate visual system, in particular onto cells in the primary visual cortex (V1) as well as onto cells in the middle temporal area (MT). Our algorithm mimics a number of psychophysical phenomena and illusions (perception of coherent plaids, motion capture, motion coherence) as well as electrophysiological recordings. Thus, a single unifying principle ‘the final optical flow should be as smooth as possible’ (except at isolated motion discontinuities) explains a large number of phenomena and links single-cell behavior with perception and computational theory

Characteristics of flight simulator visual systems

The physical parameters of the flight simulator visual system that characterize the system and determine its fidelity are identified and defined. The characteristics of visual simulation systems are discussed in terms of the basic categories of spatial, energy, and temporal properties corresponding to the three fundamental quantities of length, mass, and time. Each of these parameters are further addressed in relation to its effect, its appropriate units or descriptors, methods of measurement, and its use or importance to image quality