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6 Experimental behaviour of
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A fixation and viewpoint
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4 Control theory applied
In this section an analysis is made of the idealised behaviour of the
error signal in response to movements of a sensor, with six degrees of
freedom, relative to a known object, again a simple circle. The
movements to be analysed are as follows,
-
Foveal fixation
-
The change of the point of fixation in a grid of points covering the
object.
-
Distance to object
-
Movement along the line of sight with a constant, central fixation
point.
-
Object rotation
-
Movement of the sensor around the object retaining a constant fixation
point and distance. Equivalent to rotating the object.
The above categories cover all the movements required for an animate
system to position itself in a learned viewpoint relative to a known
object. This type of behaviour pervades the animal kingdom irrespective
of the level of intelligence, as a means of providing the animal with
the best available information as a basis for further behaviour or
recognition.
Figure
3
shows the behaviour of the error signal as a result of the three types
of movement. Figure
3
a shows the error landscape (minimum shown as a peak) for the change in
fixation point,
3
c the plot for translation along line of sight and
3
e the rotation of the object. In the next section this expected
behaviour, for a simple synthetic object will be compared with the
behaviour of more complex, real world objects in a laboratory
environment.
Next:
6 Experimental behaviour of
Up:
A fixation and viewpoint
Previous:
4 Control theory applied
Rupert J Young
Mon Jul 7 17:45:52 BST 1997