Research On The Relationship Between Robot's Binocular Parallax And Depth In Macroscopic And Microcosmic Field

The research of robot visual perception based on biological mechanisms is a new leading edge technology which crosses subject significantly. The study should comprehensive using the research results about cognitive science, neurobiology, physiological psychology, brain science, modern mathematics and other subjects. For doing robot information processing about complex image similar to biological visual percipient. The stereo perception is an important field of machine vision which has widely application in image cognition.This article studied on the macroscopic and microcosmic mechanism of binocular parallax about stereo perception, analyzed the structure and information processing mechanism of lateral geniculate body and primary visual cortex,explored the internal rule and mathematical structure about different kinds of information processing passages of biological vision and neurons receptive field, also did the experimental study on the relationship of parallax and depth. The main results are as follows:(1) The aggregate of neurons in different layers of lateral geniculate body and their positional relationship constitute category. The aggregate of ganglion cells in retina and their positional relationship constitute category. And there is a function between the two categories. It shows the corresponding relationship between the neurons in lateral geniculate body and ganglion cells. And the information belongs to these cells and the positional relationship of the cells also constitute category. And there is a function between the two corresponding categories. The external images keep the invariance of information when they have arrived lateral geniculate body after the treatment by ganglion cells in retina. So the information have furthermore processing treatment in lateral geniculate body.(2) The neurons of lateral geniculate body divide into different categories according to the types of photoreaction. The cells in the same category have equivalence relations. The different information of external images have classified according to the equivalence relations. Do the processing through the special neurons in different layers of lateral geniculate body with extracting the various characteristic information gradually.(3) The aggregate of neurons in different layers of lateral geniculate body and their elements relation constitute category. The aggregate of object image pixels and their positional relationship constitute category. And there is a function between the two corresponding category. It shows the strictly corresponding relationship in the projection between retina and the lateral geniculate body.(4) The neurons of primary visual cortex divide into different categories according to the fact that cells have the same orientation, also divided the binocular cells into different categories according to the fact cells have the same ocular dominance. The cells have equivalence relation in the same category. The aggregate of cells in left ocular dominance column and their positional relationship constitute category. The aggregate of cells in right ocular dominance column and their positional relationship also constitute category. And the two categories isomorphism the different cells in primary visual cortex process the information of external images through the various of color, brightness, position, ocular dominance and orientation.(5) The aggregate of neurons in different ocular dominance and their elements relation constitute category. And they can constitute product category according to different reaction condition in different vision region. It shows the determination of the position relationship between the cells in different layers of lateral geniculate body and the object in different region.These mathematics structures show the essential relationship between biological vision system and robot vision system radically. And then I did the study on relation between binocular parallax and depth. Through the experimental research on binocular parallax, the results are as follows:(1) The mechanism of antagonism and lateral inhibition of lateral geniculate body neurons and the simplest cells in primary visual cortex make the characteristics of image boundary extraction effectively. The contrast gradient of boundary and internal increases with the coefficient of antagonism and lateral inhibition.(2) The object's parallax in different vision region show various distribution rules with the level offset and depth when the radiators angle is different. So we can judge which region the object in by the position of image vision so as to infer the depth by parallax.(3) According to the microstructure analysis of different image boundary, I concluded four kinds typical outline in order to design the receptive field of binocular simple cells. Extract the parallax information according to the different distribution about the excitation region and inhibition region of simple cell's receptive field with the different vision region and different ocular dominance where the object is in.This article did the macroscopic and microcosmic study on binocular parallax based on biological stereo vision mechanism. It revealed the essential rule about the structure and operation mechanism of lateral geniculate body and primary visual cortex which correlated depth perception. It also finished the extraction of retinal paratactic through simple cells in primary visual cortex and lay a certain foundation for the research on stereo center.