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2.

5 Images perception, automation

In the case of fully autonomous UHV, a rather important issue relates to how the vehicle senses
(percept) images received from sensors. Given the fact that the processing of the results is done by a
computer, we are faced with the problem of computer vision.

On the other hand, remotely controlled vehicles also face the perception of images. However, this
problem is the operator's (human) ability to capture images and correctly interpret the problem.

Here's how Google car perceives the image (Figure 1):

Fig. 1.

Perception is the handling and interpretation of perceptive information that enables the identification of
meaningful objects or events.

Perceptions are the source of our knowledge of the outside world. However, we get some information
about different attributes of an object or phenomenon in terms of senses. Understanding answers to
two basic questions: who it is and where it is. Both the person and the machine answer the questions.
However, the basis for the answer between the human and the machine is different, and the answers
themselves may vary.

2.5.1. Computer and machine vision

Computer vision is the theory and technology of developing machines that can carry out the detection,
tracking and classification of objects.

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As a technology discipline, computer vision seeks to apply computer vision theories and models to
create a computer vision system. Examples of such systems can be:

 Process control systems (autonomous vehicles, industrial robots);


 Video monitoring systems;
 Information organization systems (eg, indexing without image data);
 Environmental or object modeling systems (topographic modeling, medical data analysis);
 Interoperability systems (eg human-machine interaction data entry devices);
 Reality replenishment systems;
 Digital photography, for example, mobile devices with cameras.

Computer systems can be described as enhancements to biological viewing. Biology examines the
perception of human and animal images and, as a result of these studies, models of such systems are
being developed based on physiological processes. Computer vision explores and describes computer
vision systems that are realized as devices and applications. An interdisciplinary shift between biological
and computer vision has proven to be very productive for both areas of science.

Computer vision subdivisions include areas such as action retrieval, event detection, tracking, sample
recognition, image recovery, and some others.

The field of computer vision can be characterized as a young, diverse, and dynamically evolving field.
And although some solutions to this problem are from early cybernetics, it can be argued that only an
intensive study of this problem began in the late 1970s, i.e. from about the time computers were able to
process large enough data sets, such as images. However, such studies usually began in other areas and,
therefore, there is no standard wording for the computer vision problem. Also, and this is even more
important, there is no standard wording on how this problem should be addressed. Instead, there is a
mass of methods for solving strictly defined computer vision tasks, in which the decision method often
depends on the task itself, and rarely can it be generalized to a broad use of that method. Most of the
methods and applications are still in the phase of fundamental research. However, more and more
methods are being applied to commercial products, in which they form a core system that can handle
complex challenges. Most of the practical use cases of computer vision use are pre-programmed to
perform certain tasks, but the methods used to build knowledge are becoming more and more
common.

An important area for artificial intelligence is automated planning or decision making in systems that can
perform mechanical actions, for example, moving robotized system through a specific medium. Such
data processing typically requires initial (input) data provided by computer vision systems acting as
video sensors and providing multimedia information about the environment and the robot. Other areas
that are defined as belonging to artificial intelligence and which use a particular computer vision are
sample recognition and cost-effective methods. As a result, computer vision is sometimes understood as
part of artificial intelligence or computer science.

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Another field related to computer vision is signal processing. Most of the methods of one-dimensional
signals, usually changing in time, can be natural methods of processing two-dimensional or three-
dimensional signals in computer vision. However, due to the nature of a kind of sight, there is a dawning
of the methods developed in the field of computer vision but have nothing to do with the processing of
one-dimensional signals. A special feature of such methods is that they are non-linear. And with the
multiplicity of signals, it transforms the corresponding signal processing area into a computer vision
area.

In addition to the above-mentioned methods, most of the questions examined can be explored purely
by mathematical methods. For example, most methods are based on statistics, optimization and
geometry. In addition, large work is currently under way in the field of practical computer vision - how
existing methods can be implemented programmatically and in hardware. Or how they (methods) can
be changed to achieve high-speed performance without substantially increasing the resources used.

Examples of using computer vision. One of the most important uses is image processing in medicine.
This area is characterized by the acquisition of information from video data in order to diagnose
patients. In most cases, image data are obtained by microscopy, X-ray, angiography, ultrasound and
tomography. In this way you can get information about tumors, atherosclerosis and other malignancies.
It would also be possible to obtain information on organ sizes, blood circulation, etc. in this way. This
area also contributes to medical research by providing new information, such as on the brain structure
or quality of treatment.

Another area of computer vision is the industry. Here video information is used to help the production
process. For example, quality control when part or final product is automatically checked for defects.
Another example is the measurement of the position and direction of the parts that are raised by the
robot's hands.

Military use is the most widely used field of computer vision. It is the detection of enemy troops,
detection of vehicles, remote or unmanned vehicle control, missile defense. The most advanced missile
systems send a rocket to the target area, not to a specific location. When the missile hits itself, the video
itself selects the target based on the video data it receives. Video data from various sensors also helps to
make strategic decisions.

One of the latest areas is autonomous vehicles: underwater, ground and air. Autonomy levels range
from full autonomy to vehicles where computer-based systems help drivers or pilots in a variety of
situations. In fully automated systems, computer vision is used for navigating, creating an environment
map, barrier detection. The same computer vision can be used to perform specific tasks, for example, to
detect forest fires.

Also, computer vision can be used to create video effects on the cinema and on television and on the
watch.

Typical computer vision tasks.

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Recognition. The classic task of computer vision, image processing and machine vision involves
determining whether image data includes a particular characteristic object, property, or activity. This
task can be reliably and easily solved by a person, but it has not yet been satisfactorily solved by the
computer in the general case: accidental objects in random situations.

Existing methods for solving such a problem are effective only for individual objects. For example, for
simple geometric objects (polygon), for human face, printed or written symbols, cars in certain
situations (appropriate lighting, angle and background for video camera).

The literature describes a whole series of recognition problems:

 Recognition as such: Identification of one or more predetermined or investigated objects or


classes of objects, comparing most often with its binary position in the image or the triple
position in space;
 Identification: Identification of individual parts or examples of an object: Identification of a
defined human face, fingerprint or car;
 Detection: Video data is checked due to the presence of certain conditions. For example, to
detect possible damaged or irregular cells in medical imagery. Detection based on relatively
simple and fast calculations is used to find small areas in an analyzed image, which are then
analyzed using tools that require more resources in order to get the correct interpretation.

There are several specialized tasks that are based on recognition. For example:

 Search for images by content: Find all possible images in a large collection of images that have
certain content. Content can be described in a variety of ways, for example, in terms of
similarity to a particular image, or in terms of high-level search criteria entered as text data (find
me all the images showing many homes during the winter and in the absence of cars);
 Position estimation: to determine the position or orientation of a particular object in relation to
the camera. An example of such an application could be the operation of a robot hand by
removing a particular object from the assembly line;
 Optical Character Recognition: Identification of characters those are typed or handwritten.
Usually this technique is used by the interpreter. It is usually translated into a text format that is
most convenient for editing or indexing (e.g. ASCII).

Motion: Several tasks related to motion estimation, when consistent images (video images) are
processed to find an estimate of each point of the image or 3D scene speed. Examples of such tasks
could be:

 Evaluation of the 3D camera movement;


 Tracking, i.e. tracking object movement.

Scene Recording. Two or more scene images (or video data) are given. A scene recording means that you
need to restore the three-dimensional scene model. In the simplest case, the model may have a set of
three-dimensional space points. Many sophisticated methods recreate the full 3D model.

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Video playback. The purpose of the video playback is to remove noises (sensor noise, moving image
object outlet, etc.). The easiest way to solve this problem is to use a variety of filters, such as low and
medium frequency filters. More sophisticated methods measure when one or another field of view
should look and make changes.

A much higher level of noise elimination is achieved during initial video data analysis in order to find
various structures such as a line or boundaries, and then control filtering based on that analysis.

Computer vision systems.

Realization of computer vision systems depends strongly on the field of view use, the hardware platform
and the requirements for performance. Some systems are autonomous and deal with special detection
and measurement tasks, when other systems are only subsystems of considerably larger systems. Such
large systems can include not only the subsystem of vision, but also the subsystem of control of
mechanical parts, databases (in order to look for similar images), human-machine interfaces, etc.
However, although the underlying computer vision subsystems may be different, there are functions
that are typical of most computer vision subsystems. This is the acquisition of images, preprocessing,
component extraction, detection / segmentation, and a high level of decoration:

 Image acquisition: A digital image is obtained from one or more image sensors that have
distance sensors, ultrasound cameras, etc., without light sensitive cameras. Depending on the
type of sensor, the resulting images may be conventional 2D images, 3D images or a sequence
of images. The number of pixels generally corresponds to the intensity of light in one or more
spectral bands (color or gray), but may be due to different physical measurements such as
sound or electromagnetic wave depth, absorption or reflection, nuclear magnetic resonance, or
the like;
 Initial processing: before the computer vision methods are used to process video data in order
to extract certain information or part thereof, it is necessary to process the video data in order
to meet certain conditions, depending on the method used. Examples could be:
o Repeat selection to make sure the video coordinate system is appropriate;
o Removing noise in order to eliminate distortions caused by the sensor;
o Improvement of contrast in order to find the necessary information;
o Scale increase to better distinguish structures in the image;
 Component extraction: Detaching different levels of video complexity from video data. Typical
examples of such actions would be:
o Lines, borders and edges;
o Localized points of interest such as angles, drops or points: more complex details can be
attributed to structures, shape or movement;
 Detection / Segmentation: A decision is made on what points or zones are important for further
processing at a particular initial processing stage. Examples could be:
o Exclusion of a certain set of points of interest;
o Characteristic segmentation of one or several areas of a feature (of which we are
interested);

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 High-level data processing: At this stage, the input data consists of a small set of data, such as a
set of points or a set of zones in which the object of interest to us is assumed. Examples could
be:
o Verification that the data meets the conditions of the methods used;
o Characteristic of the parameters. For example, the position and dimensions of an object;
o Classification of the detected object in different categories.

Related areas.

Computer vision, Image Processing and Machine Vision are related areas. Even now it is not entirely
clear whether all these areas are subdivisions of one broader section, or whether it is, however, a
completely separate area. In more detail, it may turn out to be different names in one area. In order to
avoid confusion in it, these three areas are usually distinguished as directions focusing on a particular
subject of research. Below are some of the most well-known directions.

Image processing or image analysis concentrates on working with two-dimensional images, i.e. how to
change one image to another. For example, by increasing the contrast in operations with each pixel, the
operations are for marginal separation, noise elimination or geometric modification. Transaction data
assumes that image processing / analysis works independently of the video content itself.

Image processing is any form of information processing to which input data is provided as an image,
such as a photo or video frame. Image processing can be done to get an image on the output (e.g., TV
broadcast, printing, etc.) or any other information (e.g., recognizing text, signs, etc.). In addition to static
two-dimensional images, processing also requires images that change over time, such as video.

In the middle of the 20th century, the processing was analogous and carried out by optical instruments.
Even now, similar methods are important enough in holography, and so on. However, with the rapid rise
in computer use, digital techniques are suppressed by analogy. Digital image processing methods are
more accurate, reliable, flexible and easier to implement. Specialized equipment - processors,
multiprocessor systems, etc. - is widely used in digital image processing. This is especially true for video
processing. Image processing is done using various programs, such as MATLAB, Mathcad, Maple,
Mathematica, etc. It uses basic tools, Image Processing extensions, and the like.

Basic signal processing methods. Most single-signal signal processing methods are also suitable for
binary signals. And such two-dimensional signals are images. Some one-dimensional methods greatly
complicate their application with binary images. In the image processing, we are dealing with new
concepts such as connectivity and invariance of rotation. These two concepts make sense of the round
only in terms of two-dimensional signals. Signal processing is widely used for Furje transformation,
Gabor filter and waveform transformation. Image processing is subdivided into spatial processing
(brightness, gamma correction, etc.) and in the frequency domain (Furje transformation, etc.). The
transformation of discrete functions (video) Furje in spatial coordinates is periodic in terms of spatial
frequencies with period 2π.

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Image processing for reproduction. For the purpose of image processing, the following typical tasks are
created to reproduce this image:

 Geometric transformations, such as rotation and scale;


 Color Correction: Change the brightness and contrast, color quantization, conversion to another
color space;
 Compare two or more images. As a special case, find the correlation between the image and
sample, for example, in a banknote detector;
 Combination of images in various ways;
 Interpolation and alignment;
 Image sharing in separate areas (image segmentation);
 Editing and retouching;
 Dynamic Range Expansion by Combining Images with Different Exposures (HDR);
 Loss compensation, for example, by a non-stop masking method.

Image processing for applied and scientific purposes. In this case, there are typical tasks:

 Text recognition;
 Satellite image processing;
 Machine vision;
 Data processing to distinguish various attributes;
 Image processing in medicine;
 Identification of the person (according to the face, iris, fingerprint data);
 Automatic vehicle control;
 Determination of object movement;
 Filled overlays.

Computer vision. It focuses on the processing of three-dimensional scenes designed for one or more
images. For example, the restoration of structure or other information about a three-dimensional scene
by one or more images. Computer vision often depends on one or another assumption of what is
depicted in those images.

Machine vision. It focuses on mainly industrial applications, such as autonomous robots, as well as visual
inspection and measurement techniques. This means that image sensor technologies and management
theories are closely related to the processing of video data in order to control robots. The processing of
image data takes place in real-time in hardware or software.

Machine vision is the use of computer vision for production. Meanwhile, computer vision is a collection
of methods that allow computers to see. The area of interest in machine vision as an engineering
direction is digital input / output devices and computer networks for controlling manufacturing facilities
such as manipulators or equipment for removing a defective product. Machine vision and engineering
related to digital technology, optics, machine manufacturing and automation of production. In order to
check the quality of production, people are inspecting part of the product by determining their quality.

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The machine-readable system uses digital and intelligent cameras for this purpose and software that
allows you to perform the same quality tracking. Visualization as an area initially concerned with the
creation of images, but in some cases it involved processing and analysis. For example, radiography
works with video data analysis for medical purposes.

The machine vision system is typically programmed for narrow specialization purposes, such as
calculating objects on a conveyor, scanning serial numbers, or looking for surface defects. The benefit of
the visual inspection, which is based on machine vision, is that the process is carried out at high speed,
the ability to work 24 hours a day, with the accuracy of repeating measurements. However, people have
the flair and greater flexibility to classify and look for new defects.

Machine vision components. Although machine vision is a process for customizing computer vision in
the industry, it is advisable to list the hardware and software components used. The typical architecture
of the machine vision system includes the following components:

 Single or multiple digital or analogue cameras (black and white or color) with appropriate optics
in order to get good images;
 Software for image processing for further processing. For analog cameras, this would be
digitalisation of images;
 Processor (usually a modern computer with a durable core processor or embedded processor);
 Machine vision software that provides tools for individual application applications;
 Input / output devices or communication channels for the results messaging;
 Smart Camera: One unit that includes all of the above points;
 Highly specialized light sources (light emitting diode, fluorescent and halogen lamps, etc.);
 Specific application software for image processing and determination of relevant properties;
 Sensor for detecting parts of synchronization (usually an optical or magnetic sensor) to capture
and process images;
 Specific shape ports used for sorting and rejecting defective parts.

Synchronization sensors determine when the part that often travels with the conveyor is in the position
when the check is to be performed. The sensor launches the camera to make the image of that part at a
time when the detail passes through the camera and this is often combined with the lighting impulse to
make the image vivid. Lighting is required to highlight special details for inspection and which are
interesting (for example, shadows and reflections).

An image from the camera enters the frame capture or computer memory in systems where the burst
catcher is not used. A framerate is a digitizing device (like a wise camera part or a separate wide
computer) that converts input data into digital format (as a rule, it is a two-dimensional array that
corresponds to the intensity of light at a certain point in the field of view, which is called in pixels) and
embeds the image of a computer in memory so that it can be processed by software.

Software supplies, as a rule, take a few steps to process information. Initially, the information is
processed to reduce the amount of noise or convert a large number of shades of gray to a certain black

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and white combination of colors (i.e., the so-called binerisation process). After initial processing, the
program will perform measurements and / or detect objects, dimensions, defects and other image
characteristics. If a flaw is detected, the software will send a signal to the mechanical device, or even can
stop the entire production line and warn the employee to resolve the problem and determine whether
or not this caused the problem.

Most modern machine vision systems use color digital cameras. In addition, direct-connection cameras
are used. And this prevents to use burst catcher. Smart cameras with embedded processors now
provide the basis for machine vision. The use of embedded processors eliminates the need for a frame
caching device and an external computer. This reduces the cost of the system and simplifies the system
and increases the chances of computing each camera. In addition, the cost of a smart camera is lower
than that of a system that consists of a camera and an external computer. And this helps to increase the
efficiency of such a system.

Processing methods. Commercial package packages for machine vision and open source packages
typically include image processing methods such as:

 Pixel Calculator: Evaluates the number of light and dark pixels;


 Binerisation: transforms gray-tone images into black-and-white images;
 Segmentation: Used to search for details and / or to evaluate them (to calculate):
o Blobs (Spots) Search and Analysis: Verifies the image by individual pins (for example, a
black hole in a gray object) as video pixels. Usually such a block is the purpose of the
image processing or caching;
o Authentication by templates: the object that is to be rotated, partially covered by
another object or varies by size, search by templates;
 Bar-code reading: decoding 1D and 2D codes that are created to allow them to scan machines;
 Optical Character Recognition: automated text reading, for example, setting of series numbers;
 Measurements: measurements of the object's dimensions according to the selected units of
measure (inches, millimeter, centimeters, etc.);
 Edge detection: search for the edges or boundaries of the object;
 Comparison of templates: search, selection and / or calculation of specific models.

In most cases, machine vision uses a sequence of these techniques. For example, a system that reads a
bar code can also check the plain surface - whether there is no scratch or damage, to measure the
length and width of the object.

2.5.2 Perception of the image by human

We rarely wonder if the objects we see - trees, machines, animals, people - are actually what we
perceive. It often seems that what we see is a simple reflection of surrounding objects.

However, scientists have shown that the perceived vision of a person is very different from that of the
image that is in its retina, i.e. from what the physical device, television camera sees. The perception is

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associated with processes that compensate for projection distortions, allow you to measure the color of
the light.

Does the human eye system look like a television system?

Our vision system is similar to a television system that uses the eyes as video cameras. From them, the
image is nervous, like cables, transmitted to the internal screen, where "someone" is watching it. The
human eye system and television system are just as different as the technical base - electronic devices
used on television, and neurons in the visual system. Such an opinion is defended in various publications
on dentures in the field of vision: the aim is to produce a technical retinal replacement for the human
eye. It uses a set of artificial light-sensitive elements that replace the damaged human retina. The set
usually contains a set of photoreceptors (cones and sticks). Signals from such an artificial retina are
transmitted to the human brain. Here, the signals are processed and created on an internal screen
similar to the television. It's easy to make sure that such a simplified approach is not correct.

Let's take a look at Fig. 2 and 3. Two pictures of real objects are shown. A similar image is created in our
mesentricular, photoreceptor planes. In the first case, the picture of the regime of a girl who stretched
her hand to the camera. In the second picture, it's hard to realize that it's a spit on a horse's foot (this is
a picture seen by a wolf of the hero of the famous animated movie, this horror made him look).

Fig. 2. Fig. 3.

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We get such images when shooting nearby objects. The hand and the horse's foot are close to the
camera lens, while the other parts are much further. The closer parts of the image are larger in the
image, resulting in distortions of the image called projection distortion. We never realize objects in our
lives, although in our retina our image is as shown in photographs. The ability to see objects that are not
distorted, regardless of their image in the retina, is called the stability of the perceived form of objects.

Another example illustrates more subtle distortions of images. It is sometimes assumed that the
perceived color of the objects depends on the light reflected by the object, entering into our eyes,
physical properties and color. For example, red tomatoes reflect more red (long waves) light. The
cucumber reflects more green lights and so on.

The color of the object depends not only on the characteristics of the surface of the object, but also on
the color of the light source. As the color of the sunlight changes over the course of the day, the
perceived color of the objects should also change. The color of the illumination is also different in open
fields and in densely deciduous forest. So the red tomato in the open spot should be perceived as red,
and in the deciduous forest, the same tomato should be green. The picture shows three photos of the
same girl, made with different colors in the light. The picture on the left is made by a light-emitting girl
with a normal electric bulb, and on the right by lighting a fluorescent lamp that produces a bluish-
greenish light. We can see that the measurement of a girl's physical color changes from red to green
(Fig. 4). Happiness, human perceptible color does not depend on the color of the light source. In any
illumination, the girl is perceived as if she were illuminated by the light of daylight. This phenomenon is
called the perceived color consistency. If our visual system does not have this feature, it would be
difficult to work under ever-changing conditions.

Fig. 4.

Thus, a person's perceived visual image is very different from that of the image on his retina, i.e. y from
what the physical device, television camera sees. The perception is associated with processes that
compensate for projection distortions, allow you to measure the color of the light.

Research perceived problems.

The perception process is complex, it differs from those used in technical systems. No one in the world
of science has studied all aspects of perception. Knowledge of perception is gathered after a whim, by
the efforts of many collectives.

At present, a very popular model of active perception, proposed by Canadian and Russian scientists
thirty years ago. The diagram of this model is shown in Figure 5.

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Fig. 5. Simplified scheme of the model of the perception system. A visual object is a folded paper sheet.
Its flat view in the mesentery is as seen in the picture. Is the edge of the folded sheet facing up or
hanging?

Visual images are projected on the retina, i.e. y Retinal photoreceptors illuminate the light reflected
from the surface of objects (block I). The photoreceptors transform light signals into electrons that go
into specialized brain structures (signal processing and feature extraction unit - (II)). Here, these signals
are analyzed, the reticular features of the image are distinguished. According to these features, memory
(III) searches the image corresponding to the visible object. In the process, a hypothesis (hypothetical
image) is formed that could be this. The resulting hypothesis is stored in a special structure (IV). The
hypothetical image is compared with the features isolated during analysis. If the features of a
hypothetical image coincide with the features embedded in the analysis block, they are suppressed and
continue to not work with the memory structures, i.e. y these attributes are no longer in the
hypothetical image. When all the features of the hypothetical image coincide with the distinguished
features, the hypothesis becomes a stable perceived object image.

This scheme is complicated - it involves a lot of brain structures. Investigations carried out at universities
relate to the experimental verification of this model. In particular, it investigates how and where
compensation of projection distortions occurs and how color perception is ensured. The perception of
the size of the object depends on which part of the field of vision it is visible. If it is in the center of the
field of vision and its image is in the central retina, this object is perceived to be larger than the image of
the same object in the retina. It was believed that these are the results of the work of the central
nervous system - objects important to humans are at the center of the visual field and, because of their
importance, they are subjectively increased. This phenomenon, known as the French psychologist Jean
Pjezza, called the centralization phenomenon.

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This phenomenon at short distances may be related to the compensation of projection distortions. In
order to compensate for the aforementioned distortions, a person must aim to minimize the projection
of video fragments into the retina and, as a result, increase their subjective flats. A stereopic analyzer
model was developed to reveal how this phenomenon may be related to the heterogeneity of the retina
(receptor density in the center of the retina is higher). If this hypothesis is correct, then the
compensation of projection distortions is carried out in the retina. Using eye movements, we learn to
use this mechanism properly.

Consistency of color perception.

The constancy of the perception of color is attempted to be interpreted in support of the model
proposed by German scientist von Krieso, a century ago. In this model, the photoreceptor signals are
kept constant by a special mechanism with a change of light color. A two-tier color perception model
has been proposed for experiments. Under this model, the visual system performs two "measurements"
of color. The first "measurement" determines how much the object's color differs from the background
color, i.e. setting the contrast of the object. The second "measurement" sets the background color. The
perceived color of the object is the sum of the two "measured" colors - the difference between the
object and the background color and the background color itself. According to von Krieso's proposed
model, the color difference of the object / background is determined by the physical background color,
but we have succeeded in determining that it is evaluated in terms of the perceived (non-physical)
background color.

The first "measurement", in determining the difference between the object / background color,
evaluates the differences in the color of the images in the local area of the retina. This color difference
does not depend on the color of the light. The second process involves an overall assessment of the
overall field of vision. This perceived color is dependent on the illumination and is constantly changing to
a neutral color. Since the perceived object's color is the sum of two colors (background color and object
contrast), the color of the light affects the perceived color, but this effect decreases with the perceived
background color approaching neutral color.

In these studies, it tries to determine how an image is viewed in the visual system. Other ongoing
studies are designed to examine images that are perceived to be unstable.

According to the above scheme (Fig. 5), the visual system initially distinguishes the features of the
images, and then combines them in various ways, making various internal representations of the object.
It's like putting together words. We can receive thousands of different words by sticking letters.
However, not all letter derivations are possible. Thus, the image of the retina is characterized by various
signs. Comparing the hypothesis and the image on the retina suppresses those signs that coincide. Undo
attributes do not fall into the memory block (IV). Non-degraded image attributes continue to activate
memory and encourage the search for a hypothesis that suppresses all the symptoms of the image being
analyzed. How does the perception process take place?

A person is able to interpret the image freely in the retina - sometimes it creates a very complex picture
from some signs of silence. Here is fig. 6. At first glance, fourteen points were accidentally thrown.

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Fig. 6.

Perhaps there is no one who would say that these are points pointing to the place of the human joints.
However, when these points begin to move in the same way as moving human joints, we will easily
recognize a moving person. The image of a moving person is kept in the memory of man. The question
is, does advance information about what this might be, help you choose the right hypothetical image
and at the same time make the object more perceptive? The most commonly encountered experience
relates to the real actions that a person watched and performed himself. If so, maybe real action can
help to recognize the image, to get a picture of a moving person? This question is very important as it
confirms the impact of real action on training. At the same time, it allows us to determine the nature of
interactions between different modalities of sensor systems.

Often, a person can not observe events where they are (deep under water, inspecting internal human
organs, harmful humans in the environment, etc.). It uses a variety of technical systems that capture and
transfer images to cameras using cameras. Objects that are perceived in real conditions often do not
coincide with their photographs, physical images on the screen. This is not only inconvenient, but it can
also be a source of irreparable mistakes. You need to pay for such images on the screen to adjust.
Various robots will be popular in the future, with which people will have to "communicate"
continuously. Communication will be effective if the robot will be able to see the world as it is perceived
by a person. It is believed that future brain damage will be possible by introducing into the brain stem
cells, which will replace the fish and form the necessary links with the surviving cells. Creating new
connections can not be uncontrollable or chaotic. Uncontrolled new relationships would be disastrous
for a person, completely undermine his ability to act adequately, to address emerging issues. These
processes are controlled by genetic and training mechanisms. Perhaps, therefore, in real conditions,
stem cells, albeit continuously produced in the brain, are not involved in the repair and repair of
damaged mature cells. If we know the principles behind the perception processes, it would be easier for
us to find ways to use specific training procedures to restore damaged cell communications. Such
problems will have to be addressed in the not too distant future.

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The laws of perception. In the retina, when we look at the object, the image is projected, which
resembles a mosaic of different colors and colors. Perception is a complex analytical-synthetic activity.
How does the whole consist of a separate sense? Representatives of gestural psychology have identified
certain laws in which the assigned senses become perceptions:

 Figure and background. By perceiving we separate one object, called a figure, from the
surrounding background. The shape and background relationships are constantly changing. The
changing figure and background confirm that we perceive the same feelings differently.
 Grouping. Individual items are grouped by:
 Similarity. Groups are merged in their shape, size, color, or other similar items;
 Closeness. The elements are closer to each other;
 In fullness We perceive homogeneous, continuous, and not interrupted images;
 Regularity;
 Previous experience. We can combine elements into a whole or perceive a part of the whole
picture because we have experience.

Space perception. To understand objects as three-dimensional, to determine their size, movement is


assisted by binocular (both eyes) and monocular (one eye).

The binocular vision is as far as the object is, the images are less distinct in the retina.

Monocular sight when objects are far enough away from us, their images on both eyes are not different
in the retina, but we can set the distance.

Principles of monocular vision:

 Relative size. An object whose image is smaller in the retina is perceived as below.
 Succeeded. If one object partially covers another, we realize that the first one is closer to us.
 Air Perspective. It seems to us that blurred objects are beyond what we see brightly.
 Texture. The gradual transition of a rough, vivid texture to a smooth, blank indicates that the
distance is increasing.
 Straight perspective. The alleged linking of parallel lines is a feature of the distance.

These monocular sighting principles were based on the depth of the painters when they want to depict
three-dimensional objects.

Object movement. In order to focus on space, it is very important to realize that objects are moving.

Stroboscopic movement. We perceive the movement of objects because their images move in the
retina.

Motion caused. When a larger object that is surrounded by small moves, it seems that small objects are
also moving. This is a phenomenon caused by movement.

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Real movement. Of course, we also perceive a real movement when the image of the object moves in
the retina.

The ability to grasp the movement helps us to understand better what is going on.

The perception of movement is also important in order to understand causal events.

Illusion of perception. Illusion is the reflection of the inadequate perception of a thing or phenomenon
and its properties.

Everyone at a glance we are confused with our illusions. There are many contrasting illusions.

Recognition. When we recognize objects we recognize them, we assign them to one category. What
features of the object are used to recognize objects? Shape, color, size and structure. Recognizing
objects is most important.

Recognition is also influenced by the context. The object is more easily recognizable when it finds itself
between similar, related objects or in its normal environment. Context is very important when the
object is more or less ambiguous.

Undoubtedly, perceptions have an influence on our motives.

Attention and awareness. Every moment we have a lot of stimuli. But our consciousness is not at all.

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