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Cyclopean geometry of binocular vision
"... The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization that includes the classical vergence and version angles is defined. It is shown that the epipolar geometry of the system is constrained by binocular coordination of the eyes. A l ..."
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Cited by 14 (9 self)
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The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization that includes the classical vergence and version angles is defined. It is shown that the epipolar geometry of the system is constrained by binocular coordination of the eyes. A local model of the scene is adopted in which depth is measured relative to a plane containing the fixation point. These constructions lead to an explicit parameterization of the binocular disparity field involving the gaze angles as well as the scene structure. The representation of visual direction and depth is discussed with reference to the relevant psychophysical and neurophysiological literature. © 2008 Optical Society of America OCIS codes: 330.1400, 330.2210. 1.
1 Cyclorotation Models for Eyes and Cameras
"... Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can be conveniently formulated in terms of rotation matrices. The function th ..."
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Cited by 3 (2 self)
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Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can be conveniently formulated in terms of rotation matrices. The function that defines the observed cyclorotation is derived in this representation. Two polynomial approximations of the function are developed, and the accuracy of each model is evaluated by numerical integration over a range of gaze directions. The error of the most simple approximation, for typical eye movements, is less than half a degree. It is shown that, given a set of calibrated images, the effect of Listing’s law can be simulated in a way that is physically consistent with the original camera. This is important for robotic models of human vision, which typically do not reproduce the mechanics of the oculomotor system. Index Terms—Biological control systems, visual system, robot kinematics. I.
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination. IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS 1 Cyclorotation Models for Eyes and Cam
"... Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can conveniently be formulated in terms of rotation matrices. The function tha ..."
Abstract
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Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can conveniently be formulated in terms of rotation matrices. The function that defines the observed cyclorotation is derived in this representation. Two polynomial approximations of the function are developed, and the accuracy of each model is evaluated by numerical integration over a range of gaze directions. The error of the simplest approximation for typical eye movements is less than half a degree. It is shown that, given a set of calibrated images, the effect of Listing’s law can be simulated in a way that is physically consistent with the original camera. This condition is important for robotic models of human vision, which typically do not reproduce the mechanics of the oculomotor system. Index Terms—Biological control systems, robot kinematics, visual system. I.
Author manuscript, published in "Joural of the Optical Society of America A (2008)" Cyclopean Geometry of Binocular Vision
, 2009
"... The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization, which includes the classical vergence and version angles, is defined. It is shown that the epipolar geometry of the system is constrained by binocular coordination of the eyes. ..."
Abstract
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The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization, which includes the classical vergence and version angles, is defined. It is shown that the epipolar geometry of the system is constrained by binocular coordination of the eyes. A local model of the scene is adopted, in which depth is measured relative to a plane containing the fixation point. These constructions lead to an explicit parameterization of the binocular disparity field, involving the gaze angles as well as the scene structure. The representation of visual direction and depth is discussed, with reference to the relevant psychophysical and neurophysiological literature. 1
DOI: 10.1109/TSMCB.2009.2024211 Cyclorotation Models for Eyes and Cameras
, 2009
"... Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can be conveniently formulated in terms of rotation matrices. The function th ..."
Abstract
 Add to MetaCart
Abstract—The human visual system obeys Listing’s law, which means that the cyclorotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that Listing’s law can be conveniently formulated in terms of rotation matrices. The function that defines the observed cyclorotation is derived in this representation. Two polynomial approximations of the function are developed, and the accuracy of each model is evaluated by numerical integration over a range of gaze directions. The error of the most simple approximation, for typical eye movements, is less than half a degree. It is shown that, given a set of calibrated images, the effect of Listing’s law can be simulated in a way that is physically consistent with the original camera. This is important for robotic models of human vision, which typically do not reproduce the mechanics of the oculomotor system. Index Terms—Biological control systems, visual system, robot kinematics. I.