Abstract
The paper presents a theoretical study on the perceptual advantages related to the active control of a binocular vision system. In particular the presentation focuses on the process of improving perception, a task strategically important in humans and many vertebrates. The analysis is based on an anthropomorphic system; the sensitivity of the transformation from world to camera coordinates is used as a cost function for driving the movements of the eye-head system. The control strategy obtained in this way allows to formally motivate, outside of a purely behavioral context, some relevant aspects of the biological vision like fixation, vergence and eye-head compensation.
This research has been supported by the VAP — ESPRIT Basic Research Project.
Chapter PDF
References
J. Aloimonos, I. Weiss, and A. Bandyopadhyay. Active vision. International Journal of Computer Vision, 1(4):333–356, 1988.
R. K. Bajcsy. Active perception vs passive perception. In Proc. Third IEEE Computer Society Workshop on Computer Vision: Representation and Control, pages 13–16, Bellaire, MI, 1985.
D.H. Ballard and C. M. Brown. Principles of animate vision. CVGIP, 56(1):3–21, July 1992.
G. Cannata and E. Grosso. Active eye-head control. Technical Report LIRA-Lab TR-4-93, University of Genova, Genova, Italy, October 1993.
B. Espiau, F. Chaumette, and P. Rives. A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation, 8(3):313–326, June 1992.
G. H. Golub and C. F. Van Loan. Matrix Computations. The John Hopkins University Press, Baltimore, USA, 1989.
E. Grosso and D.H. Ballard. Head-centered orientation strategies in animate vision. In 3rd Internatiional Conference on Computer Vision, Berlin Germany, 1993.
E. Grosso, M. Tistarelli, and G. Sandini. Active/dynamic stereo for navigation. In Proc. of Second European Conference on Computer Vision, S. Margherita Ligure, Italy, May 1992.
B. K. P. Horn. Robot Vision. MIT Press, Cambridge, USA, 1986.
A.J. Koivo. Fundamentals of Robotic Manipulators. Wiley, New York — NY, USA, 1989.
N.P. Papanikolopoulos, P.K. Khosla, and T. Kanade. Visual tracking of a moving target by a camera mounted on a robot: A combination of control and vision. IEEE Trans. Robotics Automation, 9(1):14–35, 1993.
G. Toscani and O.D. Faugeras. The calibration problem for stereo. In IEEE Conference on Comp. Vision and Pattern Recognition, Miami FL, USA, 1986. IEEE Comp. Soc.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1994 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Grosso, E. (1994). On perceptual advantages of eye-head active control. In: Eklundh, JO. (eds) Computer Vision — ECCV '94. ECCV 1994. Lecture Notes in Computer Science, vol 801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0028341
Download citation
DOI: https://doi.org/10.1007/BFb0028341
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-57957-1
Online ISBN: 978-3-540-48400-4
eBook Packages: Springer Book Archive