仿生眼注视转移运动控制策略研究

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (6): 1380-1386.

仿生眼注视转移运动控制策略研究

王晓慧^{1, 2}, 马昕¹, 秦斌¹, 李贻斌¹

1.山东大学控制科学与工程学院,济南 250061;
2.青岛大学应用技术学院,青岛 266101

收稿日期:2015-01-16 修回日期:2015-03-30 出版日期:2016-06-08 发布日期:2020-06-08
第一作者简介:王晓慧(1978-),女,内蒙古,博士,讲师,研究方向为机器视觉,故障诊断;马昕(1970-),女,博导,教授,研究方向为机器视觉,惯性导航。
基金资助:
国家863计划(2015AA042307),山东省科技发展计划(2014GGX103038),山东省自主创新及成果转化专项资金(2014ZZCX04302)

Control Strategy of Bionic Eyes Movement in Gaze Shifts

Wang Xiaohui^{1, 2}, Ma Xin¹, Qin Bin¹, Li Yibin¹

1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;
2. School of Applied technology, Qingdao University, Qingdao 266101, China

Received:2015-01-16 Revised:2015-03-30 Online:2016-06-08 Published:2020-06-08

摘要/Abstract

摘要： 对目标在双目水平平面上深度非对称的注视点转移任务,提出了一种基于注视点水平方向转移幅度的分段式头眼协调控制策略,并建立了注视转移运动控制模型。水平方向注视转移幅度小于头部运动阈值,眼球做扫视-异向运动;水平方向注视转移幅度大于头部运动阈值且小于眼球转动的饱和阈值时头眼协调运动;当水平方向注视转移幅度大于眼球转动饱和阈值时,头部先运动使目标处于眼球运动可达范围,再进行头眼协调运动完成注视转移。仿真实验证实了方案可行性和有效性,适用于仿生眼双目水平平面上视线切换。

关键词: 仿生眼, 注视点转移, 头眼协调, 运动控制模型

Abstract: For the gaze shifts with asymmetrical depth in the horizontal plane of bionic eyes, a piecewise control strategy of eye-head coordinative motion was proposed according to the amplitude of gaze shifts, and the motion model of bionic eyes was developed. When the amplitude of gaze shifts is smaller than the head movement threshold, the eyes move only by saccade-vergence. When the amplitude is larger than the head movement threshold and smaller than the saturation threshold of eye movement with head at rest, gaze shifts are accomplished with eye-head coordinative movements. When the amplitude is larger than the saturation threshold, the head first moves to the saturation threshold of eye movement with head at rest, then eyes and head movement are controlled by eye-head coordinative control method. The simulation results show that control strategy proposed can accurately and effectively control gaze shifts in the horizontal plane of bionic eyes.

Key words: bionic eye, gaze shifts, head-eye coordination, motion-control model

中图分类号:

TP391.9

王晓慧,马昕,秦斌等 . 仿生眼注视转移运动控制策略研究[J]. 系统仿真学报, 2016, 28(6): 1380-1386.

Wang Xiaohui,Ma Xin,Qin Bin,et al . Control Strategy of Bionic Eyes Movement in Gaze Shifts[J]. Journal of System Simulation, 2016, 28(6): 1380-1386.

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