title: An active system for visually-guided reaching in 3D across binocular fixations.
abstract: Based on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the space (in terms of disparity) generated from the egocentric representation of the visual information (image coordinates). In that way, the different aspects of the visuomotor coordination are integrated: an active vision system, composed of two vergent cameras; a module for the 2D binocular disparity estimation based on a local estimation of phase differences performed through a bank of Gabor filters; and a robotic actuator to perform the corresponding tasks (visually-guided reaching). The approach's performance is evaluated through experiments on both simulated and real data.
authors.affiliation: Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, Spain.
authors.forename: Ester
authors.identifier: 0000-0003-4495-6912
authors.initials: E
authors.lastname: Martinez-Martin
authors.affiliation: Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, Spain ; Interaction Science Department, Sungkyunkwan University, Seoul 110-745, Republic of Korea.
authors.forename: Angel P
authors.identifier: 0000-0001-6227-3758
authors.initials: AP
authors.lastname: del Pobil
authors.affiliation: Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, Italy.
authors.forename: Manuela
authors.identifier: 0000-0003-3098-5894
authors.initials: M
authors.lastname: Chessa
authors.affiliation: Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, Italy.
authors.forename: Fabio
authors.identifier: 0000-0002-8111-0409
authors.initials: F
authors.lastname: Solari
authors.affiliation: Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, Italy.
authors.forename: Silvio P
authors.identifier: 0000-0002-0557-7306
authors.initials: SP
authors.lastname: Sabatini
mesh_terms: D005403:Fixation, Ocular; D012371:Robotics; D015348:Vision, Binocular