Francesco Panerai

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Robot systems that rely on vision as their main sensory capability need to be able to cope with changes in the visual environment and to manage a wide eld of view. Moreover, in order not to loose real-time response capabilities, selective visual sensing is indeed highly desirable. The \built-in" selection in space and time provided by space variant sensors(More)
Vergence provides robot vision systems with a crucial degree of freedom: it enables fixation of points in visual space at different distances from the observer. Vergence control, therefore, affects the performance of the stereo system as well as the results of motion estimation and tracking and, as such, must satisfy different requirements in order to be(More)
Stabilization of gaze is a major functional prerequisite for robots exploring the environment. The main reason for a \steady-image" requirement, is to prevent the robot's own motion to compromise its \visual functions". In this paper we present an arti cial system, the LIRA robot head, capable of controlling its cameras/eyes to stabilize gaze. The system(More)
This work describes a technique for measuring human head movements in 3D space. Rotations and translations of the head are tracked using a light helmet fastened to a multi-joint mechanical structure. This apparatus has been designed to be used in a series of psycho-physiological experiments in the field of active vision, where position and orientation of(More)
Stabilization of gaze is a fundamental requirement of an active visual system for at least two reasons: i) to increase the robustness of dynamic visual measures during observer's motion; ii) to provide a reference with respect to the environment [Ballard and Brown, 1992]. The aim of this paper is to address the former issue by investigating the role of(More)
We investigated the ability of monocular human observer to scale absolute distance during sagittal head motion in the presence of pure optic flow information. Subjects were presented at eye-level computer-generated spheres (covered with randomly distributed dots) placed at several distances. We compared the condition of self-motion (SM) versus object-motion(More)
The present study compares the results of tests performed on speed and distance control by 8 professionals drivers on both Renault-V.I. truck simulator and on real trucks. Simulation tests were also run employing 30 non-professional drivers. The simulation environment featuring a moving platform, acoustic feedback and sophisticated visual rendering for(More)
We investigated the role of extraretinal information in the perception of absolute distance. In a computer-simulated environment, monocular observers judged the distance of objects positioned at different locations in depth while performing frontoparallel movements of the head. The objects were spheres covered with random dots subtending three different(More)