This paper deals with visual sensing systems for robot. especially, a color information proceseing technology based on a model of human visusl performance. As an experiment, ten color characters are selected from a normal typewriter, and five kinds of colors are used as color characters under under the fluorescent lamp. The experiment is carried out by employing nueral net models. As the results, it can recognize characters and colors at the same time.

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Ease of reading Hirakana in a vertical column and in a horizontal row are compared by a tachistoscope. Meaningless horizontal writing was read in a shorter duration compared with meaningless vertical writing. Moreover, meaningful writing was easier to read than meaningless writing. In this paper, we discuss how the character orientation, meaning and length affect the ease of reading.

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Fusional limits in vertical disparity and binocular eye movement when a stimulus for one eye moves vertically, are measured. Diplopia occurred as vertical disparity increased. The fusional limits were narrow for a subject with good vision. We found that conjugate vertical eye movements and horizontal convergence eye movement occurred when a stimulus for one eye moved vertically. This result suggests that there is either an interaction between vertical eye movement and horizontal convergence eye movement, or this is the result of cooperation between the extraocular muscles which control vertical eye movement.

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We propose a method for sound source separation based localized orientation. For this popose we linked our separating system to a localizing system. First, sound sources are localized using temporal disparities between microphones at the onsets that are not mixed with ongoing partions of other sound sources. Next, they are separated each other based on temporal disparities of arrivals of sound sources. Several experiments were carried out in an anechoic chamber. We could separate two sound sources (speech sounds), located with azimuth difference of 38°, resulting in 25dB average attenuation ratio, by a DSP system. The separable azimuth difference was more than 15°, And 5°localization error caused about 6dB reduction in attenuation ratio.

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A holographic display technology is a kind of true 3-D techniques. In our system, a photosensitive firm is replaced with a CCD and a LCD in a conventional holographic system. The interference frindge pattern of an authentic object is read by the CCD camera and that signal is transfered to the LCTV-SLM illuminated by collimated laser. The spatial filtering technique is applied to remove the zero-order light in reconstruction. Thus we can record and reconstruct the motion-picture holographic images electrically in real-time.

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The visual resolution limlts of three types of color pixel arrangements for matrix display devices were discussed. First, spatial Nyquist limits based on pixel inverse lattices wre introduced for all arrangements. Then, showing still and moving sinusoidal patterns on simulated screens, two subjective measures were taken, and two-dimensional visual resolution limit factors, corresponding to the Kell factor, were obtained quantitatively. For still patterns, the factors were of about 0.6〜0.7 with black & white patterns, about 0.5〜0.6 with single color patterns. The comprehensive evaluation showed that the triangle arrangement was the best in the tested arrangements. For moving patterns, at an optimum velocity, the visual resolution limits were usually improved at most about 10%〜20% in comparsion with those of still patterns, and the relations among the quality, the velocity and the pixel arrangement were summarized.

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Tele-existence is an advanced type of teleoperation system that enables a human operator to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. Virtual Reality is closely like tele-existence. By virtual reality technology, a human can exists in a virtual environment generated by a computer. In order to extend the function of a human, the extended tele-existence system with virtual reality function was proposed. In this paper, Applications of virtual reality technology in tele-existence are introduced.

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