Understanding gaze stabilization mechanism and robotics application
| Project/Area Number |
24680019
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Partial Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥14,820,000 (Direct Cost: ¥11,400,000、Indirect Cost: ¥3,420,000)
Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2013: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2012: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
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| Keywords | 視線安定化 / 眼球・頭部運動 / ロボットビジョン / 視線制御 / センサフュージョン / 感覚運動統合 / 眼球運動 |
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| Outline of Final Research Achievements |
In this research, the author developed a wearable system for measurement of eye and head movements and a robot vision system aiming at understanding the mechanism for gaze stabilization in human vision. The wearable measurement system consists of an eye camera which measures eye movements, and a view camera which is downward directed and captures a marker placed on the body of person being measured. Based on the posture of the marker, head movement is measured. The robot vision system was developed to implement and evaluate hypothesizes related to the mechanism for gaze stabilization through experiments in real world. The robot vision system consists of two CMOS cameras, gyroscope, Field Programmable Gate Array (FPGA), and micro controller. We implemented several functions for gaze stabilization on the robot, such as a feed-forward control of cameras based on gyroscope signals corresponding to vestibular sensory information.
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Report
(4 results)
Research Products
(7 results)
