Most past and present research in computer vision involves passively observed data. Humans, however, are active observers outside the lab; they explore, search, select what and how to look. Nonetheless, how exactly active observation occurs in humans so that it can inform the design of active computer vision systems is an open problem. PESAO is designed for investigating active, visual observation in a 3D world. The goal was to build an experimental setup for various active perception tasks with human subjects (active observers) in mind that is capable of tracking the head and gaze. While many studies explore human performances, usually, they use line drawings portrayed in 2D, and no active observer is involved. PESAO allows us to bring many studies to the three-dimensional world, even involving active observers. In our instantiation, it spans an area of 400cm x 300cm and can track active observers at a frequency of 120Hz. Furthermore, PESAO provides tracking and recording of 6D head motion, gaze, eye movement-type, first-person video, head-mounted IMU sensor, birds-eye video, and experimenter notes. All are synchronized at microsecond resolution.

中文翻译：

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PESAO：主动观察者的心理物理实验装置

大多数过去和现在的计算机视觉研究都涉及被动观察的数据。然而，人类是实验室外的积极观察者。他们探索、搜索、选择看什么以及如何看。尽管如此，人类如何准确地进行主动观察，以便它可以为主动计算机视觉系统的设计提供信息，这是一个悬而未决的问题。PESAO 旨在研究 3D 世界中的主动视觉观察。目标是为各种主动感知任务建立一个实验装置，考虑到能够跟踪头部和凝视的人类受试者（主动观察者）。虽然许多研究探索人类表演，但通常使用 2D 描绘的线条图，并且不涉及积极的观察者。PESAO 使我们能够将许多研究带入三维世界，甚至包括积极的观察者。在我们的实例化中，它的面积为 400 厘米 x 300 厘米，可以以 120 赫兹的频率跟踪活跃的观察者。此外，PESAO 提供 6D 头部运动、凝视、眼球运动类型、第一人称视频、头戴式 IMU 传感器、鸟瞰视频和实验者笔记的跟踪和记录。所有这些都以微秒分辨率同步。