Disparity curvature and the perception of three-dimensional surfaces

BINOCULAR stereopsis provides information about the relative distance of objects from the differences in the horizontal position of their images on the two retinas. Because the size of the disparity between two points is inversely related to the square of the viewing distance, it is usually assumed that disparities have to be scaled according to distance using the vergence angle of the eyes, or by using the small vertical disparities that also exist between corresponding points of the two images. Here we present evidence that the visual system could extract information about the shapes of surfaces (without the need for scaling) by using the second spatial derivative of disparity--disparity curvature--which remains invariant with viewing distance. Rather than computing the second derivative, we suggest that an approximation to disparity curvature could be derived from the differences in curvature of corresponding line elements in the two eyes.     

Gaze direction controls response gain in primary visual-cortex neurons

To localize objects in space, the brain needs to combine information about the position of the stimulus on the retinae with information about the location of the eyes in their orbits. Interaction between these two types of information occurs in several cortical areas, but the role of the primary visual cortex (area V1) in this process has remained unclear. Here we show that, for half the cells recorded in area V1 of behaving monkeys, the classically described visual responses are strongly modulated by gaze direction. Specifically, we find that selectivity for horizontal retinal disparity-the difference in the position of a stimulus on each retina which relates to relative object distance-and for stimulus orientation may be present at a given gaze direction, but be absent or poorly expressed at another direction. Shifts in preferred disparity also occurred in several neurons. These neural changes were most often present at the beginning of the visual response, suggesting a feedforward gain control by eye position signals. Cortical neural processes for encoding information about the three-dimensional position of a stimulus in space therefore start as early as area V1.     

实时视频定位的麦克风阵列参数初始化算法

针对移动机器人近场声源定位中,需要实时获取声源目标与麦克风阵列中心相对位置和角度的问题,提出一种基于视频定位的室内声源位置测量算法,实时地为麦克风阵列提供初始化参数,为移动机器人快速建立室内近场声源环境认知实现辅助功能。该方法利用A4纸打印的位置定位板,通过摄像头采集视频数据,逐帧寻找角点后搜索定位板中心点和顶点,以此计算出麦克风阵列到声源的实际距离和方位角度。经仿真实验分析,该算法能够在室内环境中实时快速地测量声源目标位置,为机器人后续语音定位、识别与跟踪提供辅助与校准功能,具有较强的工程实用价值。     

基于视觉感知的模糊C均值聚类算法

针对传统模糊C均值聚类算法对结构复杂图像分割效果不理想的问题,提出一种基于视觉感知的模糊C均值聚类算法.首先,在分析视皮层神经元感受野性质的基础上,建立视神经元细胞响应函数来计算图像的结构特征.其次,定义一种斜坡函数从仿生学的角度来模拟人眼对相对亮度变化的感知,用来计算图像中像素点与聚类中心点之间的差异.所提模型充分考虑了邻域刺激对中心神经元影响的方向性、位置相对性和周期性,比较精确地描述了图像的结构信息,有效地抑制了噪声和复杂纹理的干扰.实验结果表明,本文算法克服了传统模糊C均值聚类算法的缺点,实现了具有复杂背景图像的精确分割.     

利用水平多波束形成实现海底目标定位的方法

通常来讲,利用水平多波束形成只能得到目标的水平方位和距离信息,无法确定目标的深度．根据水下机器人导航定位功能可以获得不同时刻水下机器人的精确位置及姿态角,文中利用空间几何关系将这些信息结合水平多波束形成技术,可以实现海底目标的定位,获得海底目标的深度信息,并给出仿真结果,证明方法可行．     

Cortical microstimulation influences perceptual judgements of motion direction

Neurons in the visual cortex respond selectively to perceptually salient features of the visual scene, such as the direction and speed of moving objects, the orientation of local contours, or the colour or relative depth of a visual pattern. It is commonly assumed that the brain constructs its percept of the visual scene from information encoded in the selective responses of such neurons. We have now tested this hypothesis directly by measuring the effect on psychophysical performance of modifying the firing rates of physiologically characterized neurons. We required rhesus monkeys to report the direction of motion in a visual display while we electrically stimulated clusters of directionally selective neurons in the middle temporal visual area (MT, or V5), an extrastriate area that plays a prominent role in the analysis of visual motion information. Microstimulation biased the animals' judgements towards the direction of motion encoded by the stimulated neurons. This result indicates that physiological properties measured at the neuronal level can be causally related to a specific aspect of perceptual performance.     

无线遥控视频监控小车的设计

为解决远距离无线视频传输依赖于移动通信网络以致使用环境受限的问题, 在没有移动通信网络的地 区, 研发了基于无线电技术的车载无线视频监控系统。 系统以小车为载体, 通过控制车体移动及车上摄像头的 转动获得最大监控视角, 使用 FPGA(Field-Programmable Gate Array)驱动 OV7670 摄像头对周围环境的图像信息 进行采集缓存, 采用无线电技术在 1. 2 GHz 频段将视频信号传输至接收端, 接收端连接上位机显示回传图像。 实验测试表明, 车体运行稳定, 可进入狭小空间进行视频监控且监控范围无死角; 利用无线电技术可实现视频 信号传输, 画面清晰、 稳定, 室内及室外传输距离可达 25 m 和 80 m 左右。     

多视点复合区园林景观最佳观赏位置空间分布特点研究

为了研究多视点复合区园林景观最佳观赏位置空间分布特点,以某森林公园为研究对象,采用GPS航行轨迹进行跟踪,选取某一景观,并将其作为中心,获取可视区域,对相关数据进行采集。从研究森林公园中挑出4个观赏位置,通过层次分析法获取不同因子的权重系数,把研究景观单因素和相应权重系数相乘,获取研究景观不同观赏位置依据GIS的整体视觉景观排名,计算美景度,将二者结合在一起确定最佳观赏位置。分析最佳观赏位置空间分布距离特点、最佳观赏位置空间分布象限特点、不同布局形式下最佳观赏位置空间分布特点以及最佳观赏位置空间景观容量特点,得出以下结论：最佳观赏位置视点场分布大部分在景观高度四倍距离区间内;第一象限与第八象限的视点频率较其余象限更高,空间布局的轴线方向能够显著提高景观的方向性,最佳观赏位置右侧视点分布比例比左侧更高;中心式布局最佳观赏位置视点场呈环状,景观的不同观赏点均需有高观赏性,场地开阔,针对扇形视点场,人流方向有很长的场地,可通过两面观赏多视点复合区园林景观;最佳观赏位置具有视觉空间容量大,视觉景观容量小的特点。经实验验证,得到的研究结果准确。     

土工格栅加固路桥过渡段的动测试分析

在秦沈铁路客运专线乙试验工点现场试验的基础上,对土工格栅加固后的路桥过渡段基床动响应特性及其影响因素进行了分析和研究.研究结果表明:随着行车速度增大,过渡段基床动应力增量为正;但当行车速度超过临界速度(220～230 km/h)后,基床动应力不再增加,反而减小;基床动应力的变化特征与其在基床中的位置密切相关,沿线路纵向水平方向上,动应力随距桥台背距离的增大而呈减小趋势;沿深度方向上,动应力随深度的增加而呈衰减趋势;过渡段沉降差的存在导致基床动应力增大,严格控制过渡段沉降差是高速铁路设计和施工的关键.     

Microstructure of a spatial map in the entorhinal cortex

The ability to find one's way depends on neural algorithms that integrate information about place, distance and direction, but the implementation of these operations in cortical microcircuits is poorly understood. Here we show that the dorsocaudal medial entorhinal cortex (dMEC) contains a directionally oriented, topographically organized neural map of the spatial environment. Its key unit is the 'grid cell', which is activated whenever the animal's position coincides with any vertex of a regular grid of equilateral triangles spanning the surface of the environment. Grids of neighbouring cells share a common orientation and spacing, but their vertex locations (their phases) differ. The spacing and size of individual fields increase from dorsal to ventral dMEC. The map is anchored to external landmarks, but persists in their absence, suggesting that grid cells may be part of a generalized, path-integration-based map of the spatial environment.     

平面束定理证明与应用的教学探讨

利用向量知识给出了空间解析几何中平面束定理的一个证明方法。应用该定理给出了点到直线的距离公式,证明了直线与平面相关位置的定理,并给出了其他应用。     

基于认知几何的支持向量机分类

支持向量机（SVM）较好地解决了小样本分类问题，但仍然受数据稀疏和噪音的影响。基于人类具有很好处理数据稀疏和噪音问题的能力，提出了模型化这些认知能力的几何化方法，建立了认知几何，特别是研究了认知相对性规律的几何化模型，提出了具体的相对变换方法，并用之于改善SVM。实验证明改善后的SVM明显提高了抵抗数据稀疏和噪音的能力。     

正面碰撞中乘员及约束系统运动响应的计算

运用PAM -SAFE系列软件对正面碰撞的人体在约束系统作用下的运动响应进行仿真 ,建立了包括安全带系统、气囊、仪表板、座椅、人体等完整的约束系统模型 ,并将仿真结果与试验数据进行验证 ,表明该仿真达到了较高的精度 .另外 ,提出了影响模拟精度的 2个值得注意的问题 :人体上肢与车舱内部件碰撞接触和模拟计算输入的车舱内部空间减速度曲线 ,并证实了B柱减速度曲线替代车舱内部空间减速度曲线的可行性 .     

Postsaccadic visual references generate presaccadic compression of space

With every rapid gaze shift (saccade), our eyes experience a different view of the world. Stable perception of visual space requires that points in the new image are associated with corresponding points in the previous image. The brain may use an extraretinal eye position signal to compensate for gaze changes, or, alternatively, exploit the image contents to determine associated locations. Support for a uniform extraretinal signal comes from findings that the apparent position of objects briefly flashed around the time of a saccade is often shifted in the direction of the saccade. This view is challenged, however, by observations that the magnitude and direction of the displacement varies across the visual field. Led by the observation that non-uniform displacements typically occurred in studies conducted in slightly illuminated rooms, here we determine the dependence of perisaccadic mislocalization on the availability of visual spatial references at various times around a saccade. We find that presaccadic compression occurs only if visual references are available immediately after, rather than before or during, the saccade. Our findings indicate that the visual processes of transsaccadic spatial localization use mainly postsaccadic visual information.     

一种基于深度特征的室外环境下激光地图辅助视觉定位方法

针对无GPS或弱GPS信号下的室外环境中的车辆无法定位问题,提出了一种利用激光地图辅助视觉定位方法。首先利用双目相机的视差图的深度与三维激光雷达地图进行匹配,然后通过最小化深度残差来估计六自由度相机位姿,接着利用视觉跟踪产生的良好的初始估计和提出的深度残差方法可有效地估计相机的位姿,最终通过估计相机的位姿完成定位。通过对比多个公开数据集,验证所提方法的准确性和有效性,最后利用实验小车采集校园数据,仿真和实验结果都证明利用此方法的有效性和在室外环境下的视觉定位的准确性。     

Depth is encoded in the visual cortex by a specialized receptive field structure

Binocular neurons in the visual cortex are thought to perform the first stage of processing for the fine stereoscopic depth discrimination exhibited by animals with frontally located eyes. Because lateral separation of the eyes gives a slightly different view to each eye, there are small variations in position (disparities), mainly along the horizontal dimension, between corresponding features in the two retinal images. The visual system uses these disparities to gauge depth. We studied neurons in the cat's visual cortex to determine whether the visual system uses the anisotropy in the range of horizontal and vertical disparities. We report here that there is a corresponding anisotropy in the cortical representation of binocular information: receptive-field profiles for left and right eyes are matched for cells that are tuned to horizontal orientations of image contours. For neurons tuned to vertical orientations, left and right receptive fields are predominantly dissimilar. Therefore, a major modification is required of the conventional notion of disparity processing. The modified scheme allows a unified encoding of monocular form and binocular disparity information.     

地铁车站坑中坑开挖施工中支护体系转换对周围环境的影响

为了解决地铁隧道明挖施工中坑中坑分区开挖和内支撑转换对周边环境影响的问题,依托郑州地铁5号线西沙区间明挖段二期工程,对坑中坑分区开挖和内支撑体系转化过程中基坑围护结构和周边环境的变形规律进行了研究.并初步得到:调整各小基坑宽度、开挖和换撑顺序对围护结构和周边环境的影响非常显著.而改变各小基坑共用围护墙插入深度对围护结构...     

条纹管成像激光雷达距离模型的研究

在基于对STIL系统成像原理分析的基础上,对实际目标的相对距离与CCD目标像距离之间的关系进行了理论研究,得出了两者近线性的关系,并依据此线性关系构建出了距离计算模型.搭建了实验平台,对模型中所需的2个重要参数静态基准线的位置和扫描速度分别进行了测定,验证了距离模型可以采用近似线性处理的正确性,基于此实验数据重新修正了距离模型.     

基于视觉的多机器人协作SLAM 问题

 视觉SLAM 仅采用图像作为外部信息,用于估计机器人位置的同时构建环境地图。SLAM 是机器人自主性的基本前提,如今在小动态环境采用激光或者声呐传感器构建2D 地图得到较好地解决。然而动态、复杂和大范围下的SLAM 仍存在问题,使用视觉作为基本的外部传感器是解决问题的一个新颖热门的研究方法。在视觉SLAM 中使用计算机视觉技术,如特征检测、特征描述和特征匹配,图像识别和恢复,还存在很多改善的空间。本文在视觉SLAM 领域的最新技术的基础上,对基于视觉的多机器人协作SLAM 领域的前沿技术进行综述。     

A neural representation of depth from motion parallax in macaque visual cortex

Perception of depth is a fundamental challenge for the visual system, particularly for observers moving through their environment. The brain makes use of multiple visual cues to reconstruct the three-dimensional structure of a scene. One potent cue, motion parallax, frequently arises during translation of the observer because the images of objects at different distances move across the retina with different velocities. Human psychophysical studies have demonstrated that motion parallax can be a powerful depth cue, and motion parallax seems to be heavily exploited by animal species that lack highly developed binocular vision. However, little is known about the neural mechanisms that underlie this capacity. Here we show, by using a virtual-reality system to translate macaque monkeys (Macaca mulatta) while they viewed motion parallax displays that simulated objects at different depths, that many neurons in the middle temporal area (area MT) signal the sign of depth (near versus far) from motion parallax in the absence of other depth cues. To achieve this, neurons must combine visual motion with extra-retinal (non-visual) signals related to the animal's movement. Our findings suggest a new neural substrate for depth perception and demonstrate a robust interaction of visual and non-visual cues in area MT. Combined with previous studies that implicate area MT in depth perception based on binocular disparities, our results suggest that area MT contains a more general representation of three-dimensional space that makes use of multiple cues.