[This corrects the article DOI: 10.3389/fnins.2024.1349436.].

Visual ranging technology holds great promise in various fields such as unmanned driving and robot navigation. However, complex dynamic environments pose significant challenges to its accuracy and robustness. Existing monocular visual ranging methods are susceptible to scale uncertainty, while binocular visual ranging is sensitive to changes in lighting and texture. To overcome the limitations of single visual ranging, this paper proposes a fusion method for monocular and binocular visual ranging based on an adaptive Unscented Kalman Filter (AUKF). The proposed method first utilizes a monocular camera to estimate the initial distance based on the pixel size, and then employs the triangulation principle with a binocular camera to obtain accurate depth. Building upon this foundation, a probabilistic fusion framework is constructed to dynamically fuse monocular and binocular ranging using the AUKF. The AUKF employs nonlinear recursive filtering to estimate the optimal distance and its uncertainty, and introduces an adaptive noise-adjustment mechanism to dynamically update the observation noise based on fusion residuals, thus suppressing outlier interference. Additionally, an adaptive fusion strategy based on depth hypothesis propagation is designed to autonomously adjust the noise prior of the AUKF by combining current environmental features and historical measurement information, further enhancing the algorithm\'s adaptability to complex scenes. To validate the effectiveness of the proposed method, comprehensive evaluations were conducted on large-scale public datasets such as KITTI and complex scene data collected in real-world scenarios. The quantitative results demonstrate that the fusion method significantly improves the overall accuracy and stability of visual ranging, reducing the average relative error within an 8 m range by 43.1% and 40.9% compared to monocular and binocular ranging, respectively. Compared to traditional methods, the proposed method significantly enhances ranging accuracy and exhibits stronger robustness against factors such as lighting changes and dynamic targets. The sensitivity analysis further confirmed the effectiveness of the AUKF framework and adaptive noise strategy. In summary, the proposed fusion method effectively combines the advantages of monocular and binocular vision, significantly expanding the application range of visual ranging technology in intelligent driving, robotics, and other fields while ensuring accuracy, robustness, and real-time performance.

This paper describes a novel bionic eye binocular vision system designed to mimic the natural movements of the human eye. The system provides a broader field of view and enhances visual perception in complex environments. Compared with similar bionic binocular cameras, the JEWXON BC200 bionic binocular camera developed in this study is more miniature. It consumes only 2.8 W of power, which makes it ideal for mobile robots. Combining axis and camera rotation enables more seamless panoramic image synthesis and is therefore suitable for self-rotating bionic binocular cameras. In addition, combined with the YOLO-V8 model, the camera can accurately recognize objects such as clocks and keyboards. This research provides new ideas for the development of robotic vision systems.

BACKGROUND: Dichoptic training has emerged as a promising rehabilitation approach for improving binocular visual function in patients with strabismus. A prospective observational study design was employed to assess the effectiveness of online video game-based dichoptic training in rehabilitating binocular visual function in patients who had undergone an operation for intermittent exotropia.
METHODS: A total of 64 patients who had undergone an operation for intermittent exotropia were recruited and divided into the training group and the control group based on whether they would receive the dichoptic training. The dichoptic training was conducted for 3 months in the training group and the control group would not accept any form of orthoptic therapy. Assessments of binocular visual functions and deviation were conducted at baseline, 3-month and 6-month follow-up.
RESULTS: Twenty-nine participants in the training group (mean 9.69 ± 2.66 years old) and 26 participants in the control group (mean 8.41 ± 2.64 years old) completed follow-up. At both 3- and 6-month follow-ups, the training group showed superior distance stereopsis compared to the control group, with near stereopsis only showing significant difference at the 6-month follow-up. Additionally, the training group exhibited significantly less distance exo-deviation drift than the control group at these times, and no significant difference was observed in near exo-deviation drift between the groups. The control group had a significantly higher rate of suboptimal surgical outcomes at both the 3- and 6-month follow-up. However, no significant differences were observed in simultaneous perception and fusion functions between the two groups.
CONCLUSIONS: Online video game-based dichoptic training has the potential to become a novel postoperative rehabilitation strategy for patients with intermittent exotropia.

Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations.

OBJECTIVE: Freehand three-dimensional (3D) ultrasound (US) is of great significance for clinical diagnosis and treatment, it is often achieved with the aid of external devices (optical and/or electromagnetic, etc.) that monitor the location and orientation of the US probe. However, this external monitoring is often impacted by imaging environment such as optical occlusions and/or electromagnetic (EM) interference.
METHODS: To address the above issues, we integrated a binocular camera and an inertial measurement unit (IMU) on a US probe. Subsequently, we built a tight coupling model utilizing the unscented Kalman algorithm based on Lie groups (UKF-LG), combining vision and inertial information to infer the probe\'s movement, through which the position and orientation of the US image frame are calculated. Finally, the volume data was reconstructed with the voxel-based hole-filling method.
RESULTS: The experiments including calibration experiments, tracking performance evaluation, phantom scans, and real scenarios scans have been conducted. The results show that the proposed system achieved the accumulated frame position error of 3.78 mm and the orientation error of 0.36° and reconstructed 3D US images with high quality in both phantom and real scenarios.
CONCLUSIONS: The proposed method has been demonstrated to enhance the robustness and effectiveness of freehand 3D US. Follow-up research will focus on improving the accuracy and stability of multi-sensor fusion to make the system more practical in clinical environments.

Steady-state visual evoked potential brain-computer interfaces (SSVEP-BCI) have attracted significant attention due to their ease of deployment and high performance in terms of information transfer rate (ITR) and accuracy, making them a promising candidate for integration with consumer electronics devices. However, as SSVEP characteristics are directly associated with visual stimulus attributes, the influence of stereoscopic vision on SSVEP as a critical visual attribute has yet to be fully explored. Meanwhile, the promising combination of virtual reality (VR) devices and BCI applications is hampered by the significant disparity between VR environments and traditional 2D displays. This is not only due to the fact that screen-based SSVEP generally operates under static, stable conditions with simple and unvaried visual stimuli but also because conventional luminance-modulated stimuli can quickly induce visual fatigue. This study attempts to address these research gaps by designing SSVEP paradigms with stereo-related attributes and conducting a comparative analysis with the traditional 2D planar paradigm under the same VR environment. This study proposed two new paradigms: the 3D paradigm and the 3D-Blink paradigm. The 3D paradigm induces SSVEP by modulating the luminance of spherical targets, while the 3D-Blink paradigm employs modulation of the spheres\' opacity instead. The results of offline 4-object selection experiments showed that the accuracy of 3D and 2D paradigm was 85.67 and 86.17% with canonical correlation analysis (CCA) and 86.17 and 91.73% with filter bank canonical correlation analysis (FBCCA), which is consistent with the reduction in the signal-to-noise ratio (SNR) of SSVEP harmonics for the 3D paradigm observed in the frequency-domain analysis. The 3D-Blink paradigm achieved 75.00% of detection accuracy and 27.02 bits/min of ITR with 0.8 seconds of stimulus time and task-related component analysis (TRCA) algorithm, demonstrating its effectiveness. These findings demonstrate that the 3D and 3D-Blink paradigms supported by VR can achieve improved user comfort and satisfactory performance, while further algorithmic optimization and feature analysis are required for the stereo-related paradigms. In conclusion, this study contributes to a deeper understanding of the impact of binocular stereoscopic vision mechanisms on SSVEP paradigms and promotes the application of SSVEP-BCI in diverse VR environments.

OBJECTIVE: To determine the relationship between changes in accommodative and binocular function with myopia progression in myopic children over a two-year follow-up period, and to determine when changes in visual functions stabilized after switching from spectacles to orthokeratology (Ortho-K).
METHODS: This prospective, self-controlled study followed thirty-six participants (aged 8-14 years) for two years after they switched from spectacles to Ortho-K. Accommodative and binocular function were assessed prior to and 1, 3, 6, 12, 18 and 24 months after commencing Ortho-K. Measurements included accommodative amplitude, accommodative response, accommodative facility, accommodative convergence/accommodation (AC/A), ocular alignment, positive relative accommodation (PRA), negative relative accommodation (NRA), horizontal vergence range, reading ability and stereoacuity. Myopia progression was quantified by the change in axial length.
RESULTS: Ocular alignment, monocular and binocular accommodative facility, and PRA stabilized after 1 month. The distance blur point in the convergence range, the distance break and recovery point in the divergence range, accommodative amplitude, calculated AC/A, stereoacuity and reading ability stabilized within 6 months. After two years of Ortho-K, NRA significantly increased (p = 0.044), while it showed no significant difference after one-year of lens wear (p = 0.49). The distance break point in the convergence range showed no significant difference (p = 0.20), but significantly decreased after one-year (p = 0.005). There were no significant correlations between the change in axial length with changes in accommodative or binocular function (p > 0.05).
CONCLUSIONS: Accommodative and binocular function changed significantly after switching from spectacles to Ortho-K and most of the parameters stabilized within the first 6 months. There was no association between the change in accommodative or binocular function and myopia progression.

To address the issues of low measurement accuracy and unstable results when using binocular cameras to detect objects with sparse surface textures, weak surface textures, occluded surfaces, low-contrast surfaces, and surfaces with intense lighting variations, a three-dimensional measurement method based on an improved feature matching algorithm is proposed. Initially, features are extracted from the left and right images obtained by the binocular camera. The extracted feature points serve as seed points, and a one-dimensional search space is established accurately based on the disparity continuity and epipolar constraints. The optimal search range and seed point quantity are obtained using the particle swarm optimization algorithm. The zero-mean normalized cross-correlation coefficient is employed as a similarity measure function for region growing. Subsequently, the left and right images are matched based on the grayscale information of the feature regions, and seed point matching is performed within each matching region. Finally, the obtained matching pairs are used to calculate the three-dimensional information of the target object using the triangulation formula. The proposed algorithm significantly enhances matching accuracy while reducing algorithm complexity. Experimental results on the Middlebury dataset show an average relative error of 0.75% and an average measurement time of 0.82 s. The error matching rate of the proposed image matching algorithm is 2.02%, and the PSNR is 34 dB. The algorithm improves the measurement accuracy for objects with sparse or weak textures, demonstrating robustness against brightness variations and noise interference.

UNASSIGNED: Anisomyopia is prevalent in myopia and studies have reported it exhibits impaired binocular function. We investigated the binocular balance across spatial frequency in adults with anisomyopia and compared it to in individuals with less differences in refractive error, and examined whether ocular characteristics can predict binocular balance in anisomyopia.
UNASSIGNED: Fifteen anisomyopes, 15 isomyopes and 12 emmetropes were recruited. Binocular balance was quantitatively measured at 0.5, 1, 2 and 4 c/d. The first two groups of the observers were tested with and without optical correction with contact lenses. Emmetropes were tested without optical correction.
UNASSIGNED: Binocular balance across spatial frequency in optically corrected anisomyopes and isomyopes, as well as emmetropes were found to be similar. Their binocular balance nevertheless still got worse as a function of spatial frequency. However, before optical correction, anisomyopes but not isomyopes showed significant imbalance at higher spatial frequencies. There was a significant correlation between the dependence on spatial frequency of binocular imbalance in uncorrected anisomyopia and interocular difference in visual acuity, and between the dependence and interocular difference in spherical equivalent refraction.
UNASSIGNED: Anisomyopes had intact binocular balance following correction across spatial frequency compared to those in isomyopes and emmetropes. Their balance was weakly correlated with their refractive status after optical correction. However, their binocular balance before correction and binocular improvement following optical correction were strongly correlated with differences in ocular characteristics between eyes.