2014 Fiscal Year Final Research Report
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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| Keywords | 視線安定化 / 眼球・頭部運動 / ロボットビジョン |
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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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| Free Research Field |
知覚情報処理
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