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Robot depth estimation inspired by fixational movements
dc.contributor.author | Durán Bosch, Angel Juan | |
dc.contributor.author | del Pobil, Angel P. | |
dc.date.accessioned | 2020-12-11T09:10:42Z | |
dc.date.available | 2020-12-11T09:10:42Z | |
dc.date.issued | 2020-09-18 | |
dc.identifier.citation | DURAN, Angel J.; DEL POBIL, Angel P. Robot depth estimation inspired by fixational movements. IEEE Transactions on Cognitive and Developmental Systems, 2020. | ca_CA |
dc.identifier.issn | 2379-8920 | |
dc.identifier.uri | http://hdl.handle.net/10234/190842 | |
dc.description.abstract | Distance estimation is a challenge for robots, human beings and other animals in their adaptation to changing environments. Different approaches have been proposed to tackle this problem based on classical vision algorithms or, more recently, deep learning. We present a novel approach inspired by mechanisms involved in fixational movements to estimate a depth image with a monocular camera. An algorithm based on microsaccades and head movements during visual fixation is presented. It combines the images generated by these micromovements with the ego-motion signal, to compute the depth map. Systematic experiments using the Baxter robot in the Gazebo/ROS simulator are described to test the approach in two different scenarios, and evaluate the influence of its parameters and its robustness in the presence of noise. | ca_CA |
dc.format.extent | 11 p. | ca_CA |
dc.format.mimetype | application/pdf | ca_CA |
dc.language.iso | eng | ca_CA |
dc.publisher | Institute of Electrical and Electronics Engineers | ca_CA |
dc.rights.uri | http://rightsstatements.org/vocab/CNE/1.0/ | * |
dc.subject | robot prototyping of human and animal skills | ca_CA |
dc.subject | development of skills in biological systems and robots | ca_CA |
dc.subject | sensorimotor development | ca_CA |
dc.subject | cognitive vision | ca_CA |
dc.subject | monocular depth estimation | ca_CA |
dc.subject | cameras | ca_CA |
dc.subject | visualization | ca_CA |
dc.subject | estimation | ca_CA |
dc.subject | head | ca_CA |
dc.subject | robot vision systems | ca_CA |
dc.subject | optical imaging | ca_CA |
dc.title | Robot depth estimation inspired by fixational movements | ca_CA |
dc.type | info:eu-repo/semantics/article | ca_CA |
dc.identifier.doi | https://doi.org/10.1109/TCDS.2020.3025057 | |
dc.relation.projectID | Ministerio de Economia y Competitividad/DPI2015- 69041-R, UJI-B2018-74 | ca_CA |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | ca_CA |
dc.relation.publisherVersion | https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274989 | ca_CA |
dc.type.version | info:eu-repo/semantics/acceptedVersion | ca_CA |
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