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The Scientific World Journal
Volume 2014, Article ID 179391, 16 pages
Research Article

An Active System for Visually-Guided Reaching in 3D across Binocular Fixations

1Robotic Intelligence Lab, Department of Engineering and Computer Science, Universitat Jaume-I, 12071 Castellón, Spain
2Interaction Science Department, Sungkyunkwan University, Seoul 110-745, Republic of Korea
3Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), University of Genoa, 16145 Genoa, Italy

Received 20 August 2013; Accepted 12 November 2013; Published 4 February 2014

Academic Editors: L. Chen, J.-X. Du, K. Gao, Y. Jiang, J. Moreno del Pozo, and W. Su

Copyright © 2014 Ester Martinez-Martin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Based on the importance of relative disparity between objects for accurate hand-eye coordination, this paper presents a biological approach inspired by the cortical neural architecture. So, the motor information is coded in egocentric coordinates obtained from the allocentric representation of the space (in terms of disparity) generated from the egocentric representation of the visual information (image coordinates). In that way, the different aspects of the visuomotor coordination are integrated: an active vision system, composed of two vergent cameras; a module for the 2D binocular disparity estimation based on a local estimation of phase differences performed through a bank of Gabor filters; and a robotic actuator to perform the corresponding tasks (visually-guided reaching). The approach’s performance is evaluated through experiments on both simulated and real data.