2A1-N10 視差エネルギー計算を用いた両眼ロボットビジョンの輻輳運動制御(脳科学・神経科学とロボティクス)

概要

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We describe a binocular vision system to emulate a disparity computation in the primary visual cortex (V1). The system consists of two silicon retinas, simple cell chips, and FPGA. The silicon retinas emulate a Laplacian-Gaussian (▽^2G)-like receptive field of the vertebrate retina. The simple cell chips generate an orientatino-selective receptive field by aggregating multiple pixels of the silicon retina, mimicking the Hubel and Wiesel type feed-forward model. The FPGA receives the outputs from the two simple cell chips corresponding to left and right eyes and calculates responses of the complex cells based on the disparity energy model. The system provides complex cell outputs tuned to five disparities and a disparity map in real time. We controlled the vergence eye movement of the binocular robot vision based on the disparity information.
一般社団法人日本機械学会の論文
2007-05-11