TY - GEN
T1 - Vision system for wearable and robotic uses
AU - Schneider, Erich
AU - Kohlbecher, Stefan
AU - Villgrattner, Thomas
AU - Bartl, Klaus
AU - Bardins, Stanislavs
AU - Poitschke, Tony
AU - Ulbrich, Heinz
AU - Brandt, Thomas
PY - 2008
Y1 - 2008
N2 - Visual perception is thought to provide us with the illusion of a stable visual world that is seamless in time and space while it is continuously explored with saccades. The oculomotor system ensures retinal image stabilization during head, object, and surround motion. Prior to manipulation, objects are fixated with top-down driven look-ahead saccades, and similarly, the locomotion path is visually inspected about two steps ahead. In human-human interaction tasks gaze is not only crucial for motor intention recognition but it is also essential in detecting the direction of social attention. A new prototype of a camera motion control unit was developed that provides a sufficiently short latency and a light-weight setup for both a wearable gaze-controlled and a humanoid stereo camera system. The camera system will serve as a binocular eye plant for a humanoid active vision system. The long-term aim is to integrate eye tracking capabilities into the vision system that will equip the humanoid with the ability to infer the target of gaze of a human in human-machine cooperation scenarios. The eye tracking technology has been improved by extending it into the direction of a calibration-free operation. The antropomorphic camera motion control system was integrated into the humanoid JOHNNIE. Thereby, a new experimental tool was created that will help to evaluate the relevance of gaze and look-ahead fixations in the interaction of humans with humanoids in social contexts or during (humanoid) locomotion.
AB - Visual perception is thought to provide us with the illusion of a stable visual world that is seamless in time and space while it is continuously explored with saccades. The oculomotor system ensures retinal image stabilization during head, object, and surround motion. Prior to manipulation, objects are fixated with top-down driven look-ahead saccades, and similarly, the locomotion path is visually inspected about two steps ahead. In human-human interaction tasks gaze is not only crucial for motor intention recognition but it is also essential in detecting the direction of social attention. A new prototype of a camera motion control unit was developed that provides a sufficiently short latency and a light-weight setup for both a wearable gaze-controlled and a humanoid stereo camera system. The camera system will serve as a binocular eye plant for a humanoid active vision system. The long-term aim is to integrate eye tracking capabilities into the vision system that will equip the humanoid with the ability to infer the target of gaze of a human in human-machine cooperation scenarios. The eye tracking technology has been improved by extending it into the direction of a calibration-free operation. The antropomorphic camera motion control system was integrated into the humanoid JOHNNIE. Thereby, a new experimental tool was created that will help to evaluate the relevance of gaze and look-ahead fixations in the interaction of humans with humanoids in social contexts or during (humanoid) locomotion.
UR - http://www.scopus.com/inward/record.url?scp=52949126019&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2008.4600633
DO - 10.1109/ROMAN.2008.4600633
M3 - Conference contribution
AN - SCOPUS:52949126019
SN - 9781424422135
T3 - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
SP - 53
EP - 58
BT - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
T2 - 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Y2 - 1 August 2008 through 3 August 2008
ER -