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

A Portable Active Binocular Robot Vision Architecture for Scene Exploration

We present a portable active binocular robot vision archi- tecture that integrates a number of visual behaviours. This vision archi- tecture inherits the abilities of vergence, localisation, recognition and si- multaneous identification of multiple target object instances. To demon- strate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binoc- ular robot vision architecture achieved average recognition rates of 93.5% for fronto-parallel viewpoints and, 83% percentage for anthropomorphic viewpoints, respectively

Robot object manipulation using stereoscopic vision and conformal geometric algebra

Abstract. This paper uses geometric algebra to formulate, in a single framework, the kinematics of a three finger robotic hand, a binocular robotic head, and the interactions between 3D objects, all of which are seen in stereo images. The main objective is the formulation of a kinematic control law to close the loop between perception and actions, which allows to perform a smooth visually guided object manipulation

A Bayesian approach to the aperture problem of 3D motion perception

We suggest a geometric-statistical approach that can be ap- plied to the 3D aperture problem of motion perception. In simulations and psychophysical experiments we study per- ceived 3D motion direction in a binocular viewing geometry by systematically varying 3D orientation of a line stimulus moving behind a circular aperture. Although motion direc- tion is inherently ambiguous perceived directions show sys- tematic trends and a Bayesian model with a prior for small depth followed by slow motion in 3D gives reasonable fits to individual data. We conclude that the visual system tries to minimize velocity in 3D but that earlier disparity processing strongly influences perceived 3D motion direction. We discuss implications for the integration of disparity and motion cues in the human visual system

Robot Object Manipulation Using Stereoscopic Vision and Conformal Geometric Algebra

This paper uses geometric algebra to formulate, in a single framework, the kinematics of a three finger robotic hand, a binocular robotic head, and the interactions between 3D objects, all of which are seen in stereo images. The main objective is the formulation of a kinematic control law to close the loop between perception and actions, which allows to perform a smooth visually guided object manipulation

Size and shape constancy in consumer virtual reality

With the increase in popularity of consumer virtual reality headsets, for research and other applications, it is important to understand the accuracy of 3D perception in VR. We investigated the perceptual accuracy of near-field virtual distances using a size and shape constancy task, in two commercially available devices. Participants wore either the HTC Vive or the Oculus Rift and adjusted the size of a virtual stimulus to match the geometric qualities (size and depth) of a physical stimulus they were able to refer to haptically. The judgments participants made allowed for an indirect measure of their perception of the egocentric, virtual distance to the stimuli. The data show under-constancy and are consistent with research from carefully calibrated psychophysical techniques. There was no difference in the degree of constancy found in the two headsets. We conclude that consumer virtual reality headsets provide a sufficiently high degree of accuracy in distance perception, to allow them to be used confidently in future experimental vision science, and other research applications in psychology

Space station proximity operations and window design

On-orbit proximity operations (PROX-OPS) consist of all extravehicular activity (EVA) within 1 km of the space station. Because of the potentially large variety of PROX-OPS, very careful planning for space station windows is called for and must consider a great many human factors. The following topics are discussed: (1) basic window design philosophy and assumptions; (2) the concept of the local horizontal - local vertical on-orbit; (3) window linear dimensions; (4) selected anthropomorphic considerations; (5) displays and controls relative to windows; and (6) full window assembly replacement

Neural Dynamics of 3-D Surface Perception: Figure-Ground Separation and Lightness Perception

This article develops the FACADE theory of three-dimensional (3-D) vision to simulate data concerning how two-dimensional (2-D) pictures give rise to 3-D percepts of occluded and occluding surfaces. The theory suggests how geometrical and contrastive properties of an image can either cooperate or compete when forming the boundary and surface representations that subserve conscious visual percepts. Spatially long-range cooperation and short-range competition work together to separate boundaries of occluding ligures from their occluded neighbors, thereby providing sensitivity to T-junctions without the need to assume that T-junction "detectors" exist. Both boundary and surface representations of occluded objects may be amodaly completed, while the surface representations of unoccluded objects become visible through modal processes. Computer simulations include Bregman-Kanizsa figure-ground separation, Kanizsa stratification, and various lightness percepts, including the Munker-White, Benary cross, and checkerboard percepts.Defense Advanced Research Projects Agency and Office of Naval Research (N00014-95-1-0409); National Science Foundation (IRI 94-01659, IRI 97-20333); Office of Naval Research (N00014-92-J-1309, N00014-95-1-0657