An integrated virtual environment for visual-based reaching

Abstract

An interactive application to test different visuo-motor interactions is presented. The long term goal is to obtain a perceptual agent capable of achieving a full 3D awareness for interaction control/planning in the peripersonal space by using the interplay between vision and motion. We have developed an integrated virtual reality environment that implements robotic reaching tasks based on stereo visual cues. Stereo processing adopts a generalized phase-based algorithm to handle the 2D disparities present in active stereo vision system in order to achieve high accuracy.