A Biologically Inspired Approach for Robot Depth Estimation

Figure 12

An example of the allocentric contribution for performing robot tasks. A visual scrutiny of the surrounding space is performed along time. While the PC screen is visible (and detected) at time 0, it is missed at time (t). However, the allocentric depth data provide the robot with the necessary information to accurately plan the robot arm path to grasp the CD box without colliding with the PC screen (red relationships).