https://sourceforge.net/p/robotics-vergence-control/wiki/Home/Recent changes to HomeenSun, 01 Jul 2018 20:48:05 -0000https://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v12 +++ v13 @@ -8,7 +8,9 @@ [[download_button]] + #[The project is now available for the iCub platform to work on YARP][16] + #Overview and Credits ##Credits </pre> </div>Agostino GibaldiSun, 01 Jul 2018 20:48:05 -0000https://sourceforge.neta7e728604e2721dbf9338f4436e6995b6081d42bhttps://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v11 +++ v12 @@ -7,6 +7,8 @@ ######- [<u>Control evaluation</u>][5] [[download_button]] + +#[The project is now available for the iCub platform to work on YARP][16] #Overview and Credits ##Credits @@ -79,5 +81,6 @@ [12]: http://www.icub.org/ [13]: https://sourceforge.net/p/robotics-vergence-control/wiki/Usage/ [14]: https://sourceforge.net/p/robotics-vergence-control/wiki/Code%20explanation/ +[16]: https://github.com/stino78/vergence-control [[download_button]] </pre> </div>Agostino GibaldiSun, 01 Jul 2018 20:47:37 -0000https://sourceforge.net96abdfca24ae4eb4110f2353dbeedee9a143a6fahttps://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v10 +++ v11 @@ -1,9 +1,10 @@ ######- [<u>Overview and credits</u>][1] ######- [<u>How to install</u>][2] ######- [<u>Demo video</u>][13] +######- [<u>Code explanation</u>][14] ######- [<u>Binocular energy model</u>][3] ######- [<u>Vergence control</u>][4] -######- [<u>Control Evaluation</u>][5] +######- [<u>Control evaluation</u>][5] [[download_button]] @@ -77,5 +78,6 @@ [11]: https://opencv.org/releases.html [12]: http://www.icub.org/ [13]: https://sourceforge.net/p/robotics-vergence-control/wiki/Usage/ +[14]: https://sourceforge.net/p/robotics-vergence-control/wiki/Code%20explanation/ [[download_button]] </pre> </div>Agostino GibaldiFri, 09 Feb 2018 07:08:48 -0000https://sourceforge.netf4c3f8c8d9bd628986c25a56d825b6d35b1def6bhttps://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v9 +++ v10 @@ -1,6 +1,6 @@ ######- [<u>Overview and credits</u>][1] ######- [<u>How to install</u>][2] -######- [<u>Usage</u>][13] +######- [<u>Demo video</u>][13] ######- [<u>Binocular energy model</u>][3] ######- [<u>Vergence control</u>][4] ######- [<u>Control Evaluation</u>][5] </pre> </div>Agostino GibaldiFri, 09 Feb 2018 07:06:09 -0000https://sourceforge.net2b7de9cc05416630904a05cd5bce0d4c489eb006https://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v8 +++ v9 @@ -73,5 +73,9 @@ [7]: http://ieeexplore.ieee.org/abstract/document/6290812 [8]: http://ieeexplore.ieee.org/abstract/document/6100861 [9]: https://www.sciencedirect.com/science/article/pii/S0925231210000160 +[10]: https://sourceforge.net/projects/robotics-vergence-control/files/ +[11]: https://opencv.org/releases.html +[12]: http://www.icub.org/ +[13]: https://sourceforge.net/p/robotics-vergence-control/wiki/Usage/ [[download_button]] </pre> </div>Agostino GibaldiThu, 08 Feb 2018 07:56:42 -0000https://sourceforge.netc05de3929b3a409bccdfbee635e99424c1c49c7bhttps://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v7 +++ v8 @@ -1,5 +1,6 @@ ######- [<u>Overview and credits</u>][1] ######- [<u>How to install</u>][2] +######- [<u>Usage</u>][13] ######- [<u>Binocular energy model</u>][3] ######- [<u>Vergence control</u>][4] ######- [<u>Control Evaluation</u>][5] </pre> </div>Agostino GibaldiThu, 08 Feb 2018 07:55:46 -0000https://sourceforge.netea84c575d68780298b18387daf9ef419e46641f8https://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v6 +++ v7 @@ -1,8 +1,8 @@ -#####- [<u>Overview and credits</u>][1] -#####- [<u>How to install</u>][2] -#####- [<u>Binocular energy model</u>][3] -#####- [<u>Vergence control</u>][4] -#####- [<u>Control Evaluation</u>][5] +######- [<u>Overview and credits</u>][1] +######- [<u>How to install</u>][2] +######- [<u>Binocular energy model</u>][3] +######- [<u>Vergence control</u>][4] +######- [<u>Control Evaluation</u>][5] [[download_button]] </pre> </div>Agostino GibaldiThu, 08 Feb 2018 06:29:24 -0000https://sourceforge.net676f25c760c8b7ee6b427fd46d86815ed4f44b19https://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v5 +++ v6 @@ -68,9 +68,9 @@ [3]: https://sourceforge.net/p/robotics-vergence-control/wiki/BinEnergy/ [4]: https://sourceforge.net/p/robotics-vergence-control/wiki/VergenceControl/ [5]: https://sourceforge.net/p/robotics-vergence-control/wiki/Evaluation/ -[6]: https://link.springer.com/article/10.1007/s11263-016-0936-z/ -[7]: http://ieeexplore.ieee.org/abstract/document/6290812/ -[8]: http://ieeexplore.ieee.org/abstract/document/6100861/ +[6]: https://link.springer.com/article/10.1007/s11263-016-0936-z +[7]: http://ieeexplore.ieee.org/abstract/document/6290812 +[8]: http://ieeexplore.ieee.org/abstract/document/6100861 [9]: https://www.sciencedirect.com/science/article/pii/S0925231210000160 [[download_button]] </pre> </div>Agostino GibaldiThu, 08 Feb 2018 06:28:14 -0000https://sourceforge.net8306d46f8be7ffe1f787da552d12f1fdcd039256https://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v4 +++ v5 @@ -27,43 +27,39 @@ ##Licence - %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%% A Portable Bio-Inspired Architecture for %%%% - %%%% Efficient Robotic Vergence Control %%%% -%%%% %%%% -%%%% %%%% -%%%% Copyright (c) Sep. 2017 %%%% -%%%% All rights reserved. %%%% -%%%% %%%% -%%%% Authors: Agostino Gibaldi, Andrea Canessa %%%% -%%%% Silvio P. Sabatini %%%% -%%%% %%%% -%%%% PSPC-lab - Department of Informatics, Bioengineering, %%%% -%%%% Robotics and Systems Engineering - University of Genoa %%%% -%%%% %%%% -%%%% The code is released for free use %%%% -%%%% for SCIENTIFIC RESEARCH ONLY. %%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Permission to use, copy, or modify this software and its documentation -% for educational and research purposes only and without fee is hereby -% granted, provided that this copyright notice and the original authors' -% names appear on all copies and supporting documentation. This program -% shall not be used, rewritten, or adapted as the basis of a commercial -% software or hardware product without first obtaining permission of the -% authors. The authors make no representations about the suitability of -% this software for any purpose. It is provided "as is" without express -% or implied warranty. -% -% ------------------------------------------------------------------------------- -% -% This software serves for the control of binocular coordination of -% eye movements on a robotic stereo head -% -% Kindly report any suggestions or corrections to: -% agostino.gibaldi@gmail.com -% -%-------------------------------------------------------------------------------* + + + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + A Portable Bio-Inspired Architecture for + Efficient Robotic Vergence ControlCopyright (c) Sep. 2017 + All rights reserved. + + Authors: Agostino Gibaldi, Andrea Canessa , Silvio P. Sabatini + + PSPC-lab - Department of Informatics, Bioengineering, + Robotics and Systems Engineering - University of Genoa + + The code is released for free use for SCIENTIFIC RESEARCH ONLY. + + Permission to use, copy, or modify this software and its documentation + for educational and research purposes only and without fee is hereby + granted, provided that this copyright notice and the original authors' + names appear on all copies and supporting documentation. This program + shall not be used, rewritten, or adapted as the basis of a commercial + software or hardware product without first obtaining permission of the + authors. The authors make no representations about the suitability of + this software for any purpose. It is provided "as is" without express + or implied warranty. + + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + This software serves for the control of binocular coordination of + eye movements on a robotic stereo head + + Kindly report any suggestions or corrections to: + agostino.gibaldi@gmail.com + + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% </pre> </div>Agostino GibaldiThu, 08 Feb 2018 06:26:35 -0000https://sourceforge.net00117f937b2d6e03af30edd674c04434493124achttps://sourceforge.net/p/robotics-vergence-control/wiki/Home/<div class="markdown_content"><pre>--- v3 +++ v4 @@ -11,8 +11,8 @@ The implemented software Toolkit for Matlab communication is released by the authors **for research purposes only**. If you want to acknowledge use of this software when you publish your research, do not thank us, but please us. -The last version of the Vergcence Control is described in this paper: -[*Gibaldi, A., Vanegas, M., Canessa, A., &amp; Sabatini, S. P. (2017). A portable bio-inspired architecture for efficient robotic vergence control. International Journal of Computer Vision, 121(2), 281-302.*][6] +#####The last version of the Vergcence Control is described in this paper: +#####[*Gibaldi, A., Vanegas, M., Canessa, A., &amp; Sabatini, S. P. (2017). A portable bio-inspired architecture for efficient robotic vergence control. International Journal of Computer Vision, 121(2), 281-302.*][6] The theory behing the combined control of horizontal and vertical vergence is provided here: [* Gibaldi, A., Canessa, A., Chessa, M., Solari, F., &amp; Sabatini, S. P. (2012, June). A neural model for coordinated control of horizontal and vertical alignment of the eyes in three-dimensional space. In Biomedical robotics and biomechatronics (biorob), 2012 4th ieee ras &amp; embs international conference on (pp. 955-960). IEEE.*][7] @@ -24,44 +24,48 @@ [*Gibaldi, A., Chessa, M., Canessa, A., Sabatini, S. P., &amp; Solari, F. (2010). A cortical model for binocular vergence control without explicit calculation of disparity. Neurocomputing, 73(7-9), 1065-1073.*][9] -##Matlab Toolbox Overview - -The toolbox is conceived for a simple and intuitive usage of the Tobii EyeX Controller in the Matlab environment, and similar controllers from Tobii, like the 4C. - -The Tobii EyeX Engine and the Tobii GAZE SDK are also compatible with the following eye trackers: Tobii REX, Tobii X2, Tobii PCEyeGo. The release 3.1 is now working both with the GAZE SDK and with the EYEX SDK, which should be compatible with the , and the new **Tobii 4C**. If you are going to try or you tried the Matlab Toolbox for EyeX with one of these devices, please let us know. - -Working with 3D vision? The release 3.1 has been extended with a full **stereoscopic calibration procedure**. - -The specifics of the toolbox are: - -* Access to **eye-gaze coordinates on screen**, **eye position in space**, and timestamp -* Access to the Matlab Psychotoolbox routines for multiple input modalities including keyboard and mouse -* Ready-to-use and **customizable routine** for positioning the subject and calibration -* Possibility of a standard calibration (two eyes together) or stereoscopic calibration(two separate monocular calibrations) -* Compatibility with Micorsoft **Windows 7, Windows 8 and Windows 10** (64-bit) -* **Code samples and documentation** to get you started quickly -* **Routines for the device evaluation** customizable to other devices than EyeX +##Licence -The Matlab Toolkit consists of four parts: -1) a client UDP (User Datagram Protocol) interface to communicate with the Tobii server, -2) a set of basic connection functions for data transmission and reception, -3) a set of routines for standard use of the device -4) an Experimental Suite including sample code provided to exemplify the usage of the Toolkit in contributed experiments from researchers + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%% A Portable Bio-Inspired Architecture for %%%% + %%%% Efficient Robotic Vergence Control %%%% +%%%% %%%% +%%%% %%%% +%%%% Copyright (c) Sep. 2017 %%%% +%%%% All rights reserved. %%%% +%%%% %%%% +%%%% Authors: Agostino Gibaldi, Andrea Canessa %%%% +%%%% Silvio P. Sabatini %%%% +%%%% %%%% +%%%% PSPC-lab - Department of Informatics, Bioengineering, %%%% +%%%% Robotics and Systems Engineering - University of Genoa %%%% +%%%% %%%% +%%%% The code is released for free use %%%% +%%%% for SCIENTIFIC RESEARCH ONLY. %%%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +% Permission to use, copy, or modify this software and its documentation +% for educational and research purposes only and without fee is hereby +% granted, provided that this copyright notice and the original authors' +% names appear on all copies and supporting documentation. This program +% shall not be used, rewritten, or adapted as the basis of a commercial +% software or hardware product without first obtaining permission of the +% authors. The authors make no representations about the suitability of +% this software for any purpose. It is provided "as is" without express +% or implied warranty. +% +% ------------------------------------------------------------------------------- +% +% This software serves for the control of binocular coordination of +% eye movements on a robotic stereo head +% +% Kindly report any suggestions or corrections to: +% agostino.gibaldi@gmail.com +% +%-------------------------------------------------------------------------------* -The routines for the standard use have been conceived to resemble and extend the functionality provided by the Tobii EyeX Engine. We provide: a routine to correctly position the user with respect to the screen; a routine to calibrate both binocular and monocular gaze position; a routine to check whether the gaze evaluation is reliable throughout the whole screen, given the selected user position, in order to evaluate the effectiveness of the calibration procedure. Finally, we provide sample code to set up a simple experiments such as a saccade, smooth pursuit, vergence and fixational eye movements. -The graphical part of the Toolkit has been implemented exploiting the [Psychophysics Toolbox Version 3][6]. - -##[Experimental Suite][9] -The Toolkit now includes a repository for sample code to replicate the experiments for: - -- Saccade [cite this paper][1] -- Smooth Pursuit [cite this paper][1] -- Vergence [cite this paper][1] -- Visual Exploration [cite this paper][1] - -For a detailed explanation of the experiments [look here][9] [1]: https://sourceforge.net/p/robotics-vergence-control/wiki/Home/ [2]: https://sourceforge.net/p/robotics-vergence-control/wiki/Install/ </pre> </div>Agostino GibaldiThu, 08 Feb 2018 06:22:36 -0000https://sourceforge.netaa8a76126873124f6d1e53441285d020f099f2fe