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JRM Vol.9 No.2 pp. 111-120
doi: 10.20965/jrm.1997.p0111
(1997)

Paper:

Saccade Mechanism Based on Processes for Depth Estimation and Incongruity Detection between Binocular Retinal Images – Analysis of Gazing Positions and Inter-saccade Intervals –

Hiroaki Kudo*, Kenya Uomori**, Mitsuho Yamada***, Noboru Ohnishi*,**** and Noboru Sugie*****

*Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-01, Japan

**Central Research Laboratories, Matsushita Electric Industrial Co., Ltd., 3-4, Hikaridai, Seika-cho, Soraku-gun, Kyoto, 619-02, Japan

***Human Vision Research Division, NHK Science and Technical Research Laboratories, 1-10-11, Kinuta, Setagaya-ku, Tokyo, 157, Japan

****Bio-Mimetic Control Research Center, RIKEN, 2271-130, Anagahora, Shimoshidani, Moriyama-ku, Nagoya, Aichi 463, Japan

*****Faculty of Science and Technology, Meijo University, 1-501, Siogamaguchi, Tempaku-ku, Nagoya, 468, Japan

Received:
December 9, 1996
Accepted:
December 20, 1996
Published:
April 20, 1997
Keywords:
Saccade, Gazing position, Depth estimation, Occlusion, Matching between retinal images
Abstract

We analyzed binocular gazing positions in the existence of a rim occlusion. When a human gazes at the rim of a textured cylinder, the gazing position shifts from the fixation target, When a human gazes at the rim of a cylinder whose upper-surface is visible, the gazing points are located at the estimated surface’s depth. In this paper, to investigate the mechanism changing the gazing point, we analyzed inter-saccade intervals. The result shows that an occlusion detection mechanism exists at an early stage of human visual processing, and the mechanism causes a shorter-interval saccade when incongruity regions between left and right retinal images are detected. We propose a saccade mechanism which includes processes for depth estimation and incongruity detection between binocular retinal images based on relationships between the gazing positions and the results of inter-saccade intervals.

Cite this article as:
Hiroaki Kudo, Kenya Uomori, Mitsuho Yamada, Noboru Ohnishi, and Noboru Sugie, “Saccade Mechanism Based on Processes for Depth Estimation and Incongruity Detection between Binocular Retinal Images – Analysis of Gazing Positions and Inter-saccade Intervals –,” J. Robot. Mechatron., Vol.9, No.2, pp. 111-120, 1997.
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