View-based approaches to spatial representation in human vision

In an immersive virtual environment, observers fail to notice the expansion of a room around them and consequently make gross errors when comparing the size of objects. This result is difficult to explain if the visual system continuously generates a 3-D model of the scene based on known baseline information from interocular separation or proprioception as the observer walks. An alternative is that observers use view-based methods to guide their actions and to represent the spatial layout of the scene. In this case, they may have an expectation of the images they will receive but be insensitive to the rate at which images arrive as they walk. We describe the way in which the eye movement strategy of animals simplifies motion processing if their goal is to move towards a desired image and discuss dorsal and ventral stream processing of moving images in that context. Although many questions about view-based approaches to scene representation remain unanswered, the solutions are likely to be highly relevant to understanding biological 3-D vision

Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 1: Modeling

The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of different models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The "natural" dynamic model, derived by the rigidity constraint and the perspective projection, is first reduced by explicitly decoupling structure (depth) from motion. Then implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for all models seen so far in the literature, but we can also derive novel ones

Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks

A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by interactive demonstration. To make this effective and convenient for the user, the machine must be capable to establish a common focus of attention and be able to use and integrate spoken instructions, visual perceptions, and non-verbal clues like gestural commands. We report progress in building a hybrid architecture that combines statistical methods, neural networks, and finite state machines into an integrated system for instructing grasping tasks by man-machine interaction. The system combines the GRAVIS-robot for visual attention and gestural instruction with an intelligent interface for speech recognition and linguistic interpretation, and an modality fusion module to allow multi-modal task-oriented man-machine communication with respect to dextrous robot manipulation of objects.Comment: 7 pages, 8 figure

On Real-Time Synthetic Primate Vision

The primate vision system exhibits numerous capabilities. Some important basic visual competencies include: 1) a consistent representation of visual space across eye movements; 2) egocentric spatial perception; 3) coordinated stereo fixation upon and pursuit of dynamic objects; and 4) attentional gaze deployment. We present a synthetic vision system that incorporates these competencies.We hypothesize that similarities between the underlying synthetic system model and that of the primate vision system elicit accordingly similar gaze behaviors. Psychophysical trials were conducted to record human gaze behavior when free-viewing a reproducible, dynamic, 3D scene. Identical trials were conducted with the synthetic system. A statistical comparison of synthetic and human gaze behavior has shown that the two are remarkably similar

Towards a human eye behavior model by applying Data Mining Techniques on Gaze Information from IEC

In this paper, we firstly present what is Interactive Evolutionary Computation (IEC) and rapidly how we have combined this artificial intelligence technique with an eye-tracker for visual optimization. Next, in order to correctly parameterize our application, we present results from applying data mining techniques on gaze information coming from experiments conducted on about 80 human individuals