The slant of a stereoscopically defined surface cannot be determined solely from horizontal disparities or from derived quantities such as horizontal size ratio (HSR). There are four other signals that, in combination with horizontal disparity, could in principle allow an unambiguous estimate of slant: the vergence and version of the eyes, the vertical size ratio (VSR), and the horizontal gradi...

In this paper, we propose a low cost, robust vision based system for monitoring patient movements during stereotactic radiotherapy: the Monocular Visual Patient Movement Monitoring (MVPM) System. The system consists of a light weight mouth bite with dual fiducial system used for position tracking. One set of fiducials consist of easy-to-detect checkerboard whose 3D position can be tracked using...

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...

This paper deals with the Efficient Second orderMinimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) [22] thatESM generally improves the systembehaviorwhen comparedwith th...

The use of computer vision based methods to explore the surrounding environment and track individuals, is further enhanced by the ability to move the visual system, a process realized by biological organisms. However, several perceptual issues arise from the rapid movement of the image acquisition system: blurred images and visual-proprioceptive transient delays result in incorrect spatial loca...

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, but they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initializ...

This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard UAV (Unmanned Air Vehicle) supplementing its estimation non linear optimizations with priors on outputs of GNSS (Global Navigation Satellite System) Denied inertial system. The is inspired in PI (Proportional Inte...

Many experiments have examined how the visual information used for action control is represented in our brain, and whether or not visually-guided and memory-guided hand movements rely on dissociable visual representations that are processed in different brain areas (dorsal vs. ventral). However, little is known about how these representations decay over longer time periods and whether or not di...