Long-term fluctuation of relative afferent pupillary defect in subjects with normal visual function.

PURPOSE: To determine whether the relative afferent pupillary defect (RAPD) remains constant over time in normal subjects. METHODS: Seventeen normal subjects were tested with infrared pupillography and automated perimetry in four sessions over 3 years. The changes in RAPD and visual field asymmetry between testing sessions were compared. RESULTS: The range of RAPD was 0.0 to 0.3 log unit, and the difference in the mean deviation between the eyes on automated static perimetry was 0 to 3 dB. Eight subjects repeatedly had an RAPD in the same eye. There was no correlation between the RAPD and the visual field asymmetry at the same visit. Changes in the magnitude of the RAPD between any two sessions were typically small (median, 0.08 log unit; 25th percentile, 0.04 log unit; 75th percentile, 0.15 log unit). CONCLUSIONS: Some normal subjects may show a persistent but small RAPD in the absence of detectable pathologic disease. Therefore, an isolated RAPD in the range of 0.3 log unit that is not associated with any other significant historical or clinical finding should probably be considered benign.

Accuracy estimation of a new omnidirectional 3D vision sensor

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc

Calibration of a Structured Light-Based Stereo Catadioptric Sensor

Catadioptric sensors are combinations of mirrors and lenses made in order to obtain a wide field of view. In this paper we propose a new sensor that has omnidirectional viewing ability and it also provides depth information about the nearby surrounding. The sensor is based on a conventional camera coupled with a laser emitter and two hyperbolic mirrors. Mathematical formulation and precise specifications of the intrinsic and extrinsic parameters of the sensor are discussed. Our approach overcomes limitations of the existing omni-directional sensors and eventually leads to reduced costs of production

Robust decoupled visual servoing based on structured light

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy

Implementation of a robust coded structured light technique for dynamic 3D measurements

This paper presents the implementation details of a coded structured light system for rapid shape acquisition of unknown surfaces. Such techniques are based on the projection of patterns onto a measuring surface and grabbing images of every projection with a camera. Analyzing the pattern deformations that appear in the images, 3D information of the surface can be calculated. The implemented technique projects a unique pattern so that it can be used to measure moving surfaces. The structure of the pattern is a grid where the color of the slits are selected using a De Bruijn sequence. Moreover, since both axis of the pattern are coded, the cross points of the grid have two codewords (which permits to reconstruct them very precisely), while pixels belonging to horizontal and vertical slits have also a codeword. Different sets of colors are used for horizontal and vertical slits, so the resulting pattern is invariant to rotation. Therefore, the alignment constraint between camera and projector considered by a lot of authors is not necessary

Bilateral olfactory sensory input enhances chemotaxis behavior.

Neural comparisons of bilateral sensory inputs are essential for visual depth perception and accurate localization of sounds in space. All animals, from single-cell prokaryotes to humans, orient themselves in response to environmental chemical stimuli, but the contribution of spatial integration of neural activity in olfaction remains unclear. We investigated this problem in Drosophila melanogaster larvae. Using high-resolution behavioral analysis, we studied the chemotaxis behavior of larvae with a single functional olfactory neuron on either the left or right side of the head, allowing us to examine unilateral or bilateral olfactory input. We developed new spectroscopic methods to create stable odorant gradients in which odor concentrations were experimentally measured. In these controlled environments, we observed that a single functional neuron provided sufficient information to permit larval chemotaxis. We found additional evidence that the overall accuracy of navigation is enhanced by the increase in the signal-to-noise ratio conferred by bilateral sensory input.

Formalizing affordances in situation

The representation of a perceptual scene by a computer is usually limited to numbers representing dimensions and colours. The theory of affordances attempted to provide a new way of representing an environment, with respect to a particular agent. The view was introduced as part of an entire field of psychology labeled as 'ecological,' which has since branched into computer science through the field of robotics, and formal methods. This thesis will describe the concept of affordances, review several existing formalizations, and take a brief look at applications to robotics. The formalizations put forth in the last 20 years have no agreed upon structure, only that both the agent and the environment must be taken in relation to one another. Situation theory has also been evolving since its inception in 1983 by Barwise & Perry. The theory provided a formal way to represent any arbitrary piece of information in terms of relations. This thesis will take a toy version of situation theory published in CSLI lecture notes no. 22, and add to the given ontologies. This thesis extends the given ontologies to include specialized affordance types, and individual object types. This allows for the definition of semantic objects called environments, which support a situation and a set of affordances, and niches which refer to a set of actions for an individual. Finally, a possible way for an environment to change into a new environment is suggested via the activation of an affordance.

Wahrnehmungspsychologische Evaluation eines dreidimensionalen Visualisierungssystems

Diese Arbeit beschreibt den Evaluationsprozess einer dreidimensionalen Visualisierungstechnik, die am Institut für periphere Mikroelektronik der Universität Kassel entwickelt wurde. Hinter der dreidimensionalen Darstellung mittels Linsenrasterscheibe verbirgt sich eine neue Dimension der Interaktion mit dem Computer. Im Vergleich zu gewöhnlichen dreidimensionalen Darstellungen, bei denen ein 3D-Objekt auf einer 2D-Fläche abgebildet wird und somit nach wie vor nicht aus der Bildschirmebene heraus kann, können bei der stereoskopen Darstellung die Objekte dreidimensional visualisiert werden. Die Objekte tauchen vor, beziehungsweise hinter der Darstellungsebene auf. Da die Linsenrasterscheibe bisher noch nicht wahrnehmungspsychologisch untersucht wurde und auch allgemein auf dem Gebiet der Evaluation von 3D-Systemen nur wenige Untersuchungen mit quantitativen Ergebnissen verfügbar sind (Vollbracht, 1997), besteht hier ein zentrales Forschungsinteresse. Um eine Evaluation dieses 3D-Systems durchzuführen, wird im Theorieteil der Arbeit zunächst der Begriff der Evaluation definiert. Des Weiteren werden die wahrnehmungspsychologischen Grundlagen der monokularen und binokularen Raumwahrnehmung erörtert. Anschließend werden Techniken zur Erzeugung von Tiefe in Bildern und auf Bildschirmen erläutert und die Unterschiede zwischen der technisch erzeugten und der natürlichen Tiefenwahrnehmung näher beleuchtet. Nach der Vorstellung verschiedener stereoskoper Systeme wird näher auf die autostereoskope Linsenrasterscheibe eingegangen. Zum Abschluss des theoretischen Teils dieser Arbeit wird die Theorie des eingesetzten Befindlichkeitsfragebogens veranschaulicht. Gegenstand des empirischen Teils dieser Arbeit sind zwei zentrale Fragestellungen. Erstens soll untersucht werden, ob durch den höheren Informationsgehalt grundlegende Wahrnehmungsleistungen in bestimmten Bereichen positiv beeinflusst werden können. Zweitens soll untersucht werden, ob sich die höhere visuelle Natürlichkeit und die Neuartigkeit der Bildpräsentation auch auf die subjektive Befindlichkeit der Probanden auswirkt. Die empirische Überprüfung dieser Hypothesen erfolgt mittels dreier Experimente. Bei den ersten beiden Experimenten stehen grundlegende wahrnehmungspsychologische Leistungen im Vordergrund, während in der dritten Untersuchung der Bereich der subjektiven Befindlichkeit gemessen wird. Abschließend werden die Ergebnisse der Untersuchungen vorgestellt und diskutiert. Des Weiteren werden konkrete Einsatzmöglichkeiten für die Linsenrasterscheibe aufgezeigt und denkbare nachfolgende experimentelle Vorgehensweisen skizziert.

Accuracy estimation of a new omnidirectional 3D vision sensor

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc

Calibration of a Structured Light-Based Stereo Catadioptric Sensor

Catadioptric sensors are combinations of mirrors and lenses made in order to obtain a wide field of view. In this paper we propose a new sensor that has omnidirectional viewing ability and it also provides depth information about the nearby surrounding. The sensor is based on a conventional camera coupled with a laser emitter and two hyperbolic mirrors. Mathematical formulation and precise specifications of the intrinsic and extrinsic parameters of the sensor are discussed. Our approach overcomes limitations of the existing omni-directional sensors and eventually leads to reduced costs of production

Robust decoupled visual servoing based on structured light

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy