Velocity based vestibular-visual integration in active sensing system

Abstract

It is necessary for most of advanced visual sensing systems to realize visual stabilization and target gazing prior to recognition process when operating in a structurally unconstrained environment. In this paper, a new method of acquiring that fundamental ability by sensor fusion technique is proposed. It is important to choose an appropriate sensor fusion basis, and it is proposed to integrate the visual system with angular velocity sensors and a gaze control system by one of those constraint conditions which govern the relation between measured and control variables. It is also proposed that such a visual sensing system is realized by integrating the systems through their (angular) velocity information. Because the velocity field in the image can be now calculated in real time and the angular velocity can be treated directly by both rate gyroscopes and gaze control motors, such an integration is expected to fit for the visual system which requires quick response. Experimental results show that proposed velocity based visual stabilization is feasible and exhibits better performance than that solely by a single sensation. The reason accounting for this improvement is also theoretically discussed.<>