304-629B Visual-Motor Systems
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Lecture Hours:
Monday, Wednesday 10:30-12:00 Wong1130
Course Description:
Examination of the link between vision and action in artificial and natural
systems. Active vision, spatial attention, perception and representation of
space, gaze stabilization and tracking, scanning and saccadic eye
movements, visual servoing. Design and control of robotic visual-motor
systems. Neurobiology of visual-motor systems.
Course Grading:
Assignment 1: 10%
Assignment 2: 10%
Assignment 3: 10%
Literature Review: 20%
Course Project: 30%
Final Exam: 20%
Postscript Files of Course Lecture Slides:
(note: these are just the text slides, and do not include diagrams taken from
papers that are handed out in class)
Ecological
Optics
Ill-posed inverse problems
Regularization
Kalman Filters
Minimization Techniques
Regularization of Shape from Shading
Active
Vision and Shape from Shading
Attention
Neural control of attention
Sources
of attention control: the Pulvinar
The
Superior Colliculus
Attention
and Eye Movements
Parietal
Cortex
Attention
and the Parietal Cortex
Neural
Network Models of the Parietal Cortex
Transaccadic
Integration
Perceptual
Stability
Route
Learning
Hippocampus
Place Cells
Neural
Network for View-Based Mapping
Papers Handed Out in Class
Gibson, J.J., "The Visual System: Environmental Information", Chapter
10 of The Senses Considered as a Perceptual System, Greenwood
Press, 1966
Bajcsy, R., ``Active Perception", Proceedings of the IEEE
Vol. 76, No. 8, August 1988, pp. 996-1005
Aloimonos, J., Weiss, I. and Bandyopadhyay, A. ``Active Vision",
Proceedings of the 1st International Conference on Computer
Vision June 1987, pp. 35-54
Tikhonov, A.N. and Arsenin, V.Y., Solutions of Ill-Posed Problems, V.H. Winston,
Washington, 1997 (just first chapter)
Bertero, M., Poggio, T.A., and Torre, V., ``Ill-posed problems in early vision'',
Proceedings of the IEEE, Vol. 76, No. 8, August 1988, pp. 869-889
Horn, B.K.P. and Brooks, M.J., ``The variational approach to shape
from shading'', MIT A.I. Memo 813, March 1985
Clark, J.J. and Yuille,, A.L., ``Shape from shading via the fusion of specular and
Lambertian image components'', International Conference on Pattern Recognition,
Atlantic City, June 1990
Clark, J.J., ``Active Photometric Stereo", Computer Vision and
Pattern Recognition Conference, Urbana-Champaign, Illinois, 1992,
pp 29-35
Clark, J.J. and Wang, L., ``Trajectories for optimal temporal
integration in active vision systems'', IEEE International Conference
on Robotics and Automation, Albuquerque N.M., April 1997, pp
431-436
Whaite, P. and Ferrie, F., "Autonomous exploration: driven by
uncertainty", Computer Vision and Pattern Recognition
Conference, Seattle, June 1994, pp 339-346
Shmuel, A. and Werman, M., ``Active vision: 3D from an image
sequence", 10th International Conference on Pattern
Recognition, Atlantic City, June 1990, pp 48-54
Desimone, R., ``Neural circuits for visual attention in the primate brain",
chapter 12 of , pp 343-364
Koch, C. and Ullman, S., ``Selecting one among the many: a simple network
implementing shifts in selective visual attention'', MIT AI Lab Memo 770,
January 1984
Mumford, D., "On the Computational Architecture of the Neocortex, I: The role of the
thalamo-cortical loop", Biological Cybernetics, Vol. 65, 1991
Van Essen, D.C. and Maunsell, J.H.R., ``Hierarchical organization and functional streams
in the visual cortex'', Trends in Neuroscience September 1983, pp. 370-375
Robinson, D.L., and Petersen, S.E., ``The pulvinar and visual salience'',
Trends in Neuroscience, pp. 127-132, 1992
Lee, C., Rohrer, W.H., and Sparks, D.L., ``Population coding of saccadic eye movements by
neurons in the superior colliculus'', Nature, Vol. 332, pp. 357-360, 1988
Munoz, D.P. and Wurtz, R.H., ``Role of the rostral superior colliculus in active
visual fixation and execution of express saccades'', Journal of Neurophysiology,
Vol. 67, No. 4, pp. 1000-1002, 1992
Wurtz, R.H., "Vision for the control of movement", Investigative
Ophthalmology and Visual Science, Vol. 37, No. 11, 2131-2145, 1996
Saslow, M.G., ``Effects of components of displacement-step stimuli
upon latency for saccadic eye movement", Journal of the Optical
Society of America, Vol. 57, No. 8, 1967, pp 1024-1029
Kustov, A.A. and Robinson, D.L., ``Shared neural control of
attentional shifts and eye movements", Nature, Vol. 384, pp
74-77
Clark, J.J., "Spatial attention and latencies of saccadic eye
movements", Vision Research, Vol. 39, pp 585-602, 1999
Fischer, B. and Weber, H., ``Express saccades and visual attention'',
Behavioral and Brain Sciences, Vol. 16, pp 553-610, 1993
Andersen, R.A., Essick, G.K. and Siegel, R.M., ``Encoding of spatial
location by posterior parietal neurons'', Science, Vol. 230, pp
456-458
Zipser, D. and Andersen, R.A., ``A back-propagation programmed
network that simulates response properties of a subset of posterior
parietal neurons'', Nature, Vol. 331, pp 679-684
Pouget, A. and Sejnowski, T., "Lesion in a basis function model of
parietal cortex: comparison with hemineglect", draft to appear in
Parietal Lobe contribution in Orientation in 3D Space, Thier, P. and
Karnath, H.O. (eds.), Springer-Verlag, 1996
Anderson, R.A., "Coordinate transformations and motor planning in
posterior parietal cortex", chapter 33 in ??
O'Regan, J.K, ``Solving the `real' mysteries of visual perception:
The world as an outside memory'', Canadian Journal of
Psychology, Vol. 46, No. 3, pp 461-488, 1992
Rensink, R.A., O'Regan, J.K., and Clark, J.J.,
``To See or Not to See: The Need for Attention to Perceive Changes in
Scenes.'', Psychological Science, Vol 8, pp 368-373. 1997
Irwin, D.E. and Andrews, R.V., ``Integration and accumulation
of information across saccadic eye movements'', Attention and
Performance XVI
, pp 157-177, 1995
Currie, C., McConkie, G.W., and Carlson-Radvansky, L.A., Irwin, D.E.,
``Maintaining visual stability across saccades: Role of the saccade
target object'', Human Perception and Performance Technical Report
UIUC-BI-HPP-95-01, University of Illinois, 1995
O'Keefe, J. and Nadel, L., ``Spatial behaviour'', in The
Hippocampus as a Cognitive Map, Clarendon Press, Oxford, 1978
Muller, R.U., Kubie, J.L., Bostock, E.M., Taube, J.S., and Quirk,
G.J., ``Spatial firing correlates of neurons in the hippocampal
formation of freely moving rats'', in Brain and Space,
J. Paillard, ed., Oxford University Press, 1991, pp 296-333
Bachelder, I.A. and Waxman, A.M., ``A view-based neurocomputational
system for relational map-making and navigation in visual
environments'', Robotics and Autonomous Systems, Vol. 16, pp
267-298, 1995
Office: 422 McConnell