Abstract
Within the framework of a model of vision-based robotic grasping inspired on neuroscience data, we deal with the problem of object orientation estimation by analyzing human psychophysical data in order to reproduce them in an artificial setup. A set of ANN is implemented which, on the one hand, allows to replicate some neuroscientific findings and, on the other hand, constitutes a tool for slant estimation that can improve the reliability of artificial vision systems, namely those dedicated to analyze visual data inherent to the interaction robot-environment, such as in grasping actions. The implementation confirms the hypothesis that integration of monocular and binocular data for the extraction of action-related object properties can provide an artificial system with improved pose estimation capabilities.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chinellato, E., Demiris, Y., del Pobil, A.P.: Studying the human visual cortex for achieving action-perception coordination with robots. In: IASTED Intl. Conf. on Artificial Intelligence and Soft Computing, ASC’06 (2006)
Tresilian, J.R., Mon-Williams, M.: Getting the measure of vergence weight in nearness perception. Exp. Brain Res. 132(3), 362–368 (2000)
Tsutsui, K., Jiang, M., Yara, K., Sakata, H., Taira, M.: Integration of perspective and disparity cues in surface-orientation-selective neurons of area CIP. J. Neurophysiol. 86(6), 2856–2867 (2001)
Jones, D.G., Malik, J.: Determining three-dimensional shape from orientation and spatial frequency disparities. In: Sandini, G. (ed.) ECCV 1992. LNCS, vol. 588, pp. 661–669. Springer, Heidelberg (1992)
Lippiello, V., Siciliano, B., Villani, L.: 3d pose estimation for robotic applications based on a multi-camera hybrid visual system. In: IEEE Intl. Conf. on Robot. Automat., pp. 2732–2737 (2006)
Backus, B.T., Banks, M.S., van Ee, R., Crowell, J.A.: Horizontal and vertical disparity, eye position, and stereoscopic slant perception. Vision Res. 39(6), 1143–1170 (1999)
Welchman, A.E., Deubelius, A., Conrad, V., Bülthoff, H.H., Kourtzi, Z.: 3D shape perception from combined depth cues in human visual cortex. Nat. Neurosci. 8(6), 820–827 (2005)
Shikata, E., Hamzei, F., Glauche, V., Knab, R., Dettmers, C., Weiller, C., Büchel, C.: Surface orientation discrimination activates caudal and anterior intraparietal sulcus in humans: an event-related fMRI study. J. Neurophysiol. 85(3), 1309–1314 (2001)
Hillis, J.M., Watt, S.J., Landy, M.S., Banks, M.S.: Slant from texture and disparity cues: optimal cue combination. J. Vis. 4(12), 967–992 (2004)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Chinellato, E., del Pobil, A.P. (2007). Integration of Stereoscopic and Perspective Cues for Slant Estimation in Natural and Artificial Systems. In: Mira, J., Álvarez, J.R. (eds) Nature Inspired Problem-Solving Methods in Knowledge Engineering. IWINAC 2007. Lecture Notes in Computer Science, vol 4528. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73055-2_42
Download citation
DOI: https://doi.org/10.1007/978-3-540-73055-2_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73054-5
Online ISBN: 978-3-540-73055-2
eBook Packages: Computer ScienceComputer Science (R0)