Robotic Vision with the Conformal Camera: Modeling Perisaccadic Perception
Humans make about 3 saccades per second at the eyeball's speed of 700 deg/sec to reposition the high-acuity fovea on the targets of interest to build up understanding of a scene. The brain's visuosaccadic circuitry uses the oculomotor command of each impending saccade to shift receptive fi...
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/130285 |
| Summary: | Humans make about 3 saccades per second at the eyeball's speed of
700 deg/sec to reposition the high-acuity fovea on the targets of interest
to build up understanding of a scene. The brain's visuosaccadic circuitry
uses the oculomotor command of each impending saccade to shift receptive
fields (RFs) to cortical locations before the eyes take them there, giving
a continuous and stable view of the world. We have developed a model
for image representation based on projective Fourier transform (PFT)
intended for robotic vision, which may efficiently process visual information
during the motion of a camera with silicon retina that resembles
saccadic eye movements. Here, the related neuroscience background is
presented, effectiveness of the conformal camera's non-Euclidean geometry
in intermediate-level vision is discussed, and the algorithmic steps in
modeling perisaccadic perception with PFT are proposed. Our modeling
utilizes basic properties of PFT. First, PFT is computable by FFT
in complex logarithmic coordinates that also approximate the retinotopy.
Second, the shift of RFs in retinotopic (logarithmic) coordinates is modeled
by the shift property of discrete Fourier transform. The perisaccadic
mislocalization observed by human subjects in laboratory experiments is
the consequence of the fact that RFs' shifts are in logarithmic coordinates. |
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| ISSN: | 1687-9600 1687-9619 |