The response of the contrast-saliency model [ 23] shown in the second column, however, is much more spread out, and not focused so much on the center of the objects, but on the borders where the objects contrast with the backgrounds.
Whereas the symmetry models specifically highlight the center of the objects, the contrast model gives a much more spread-out activation.
As a starting point for the algorithm development we took the heuristic concept proposed by Zagoruiko et al. [ 52, 53], which included the original idea of a limited radius hypersphere, moving stepwise to the mass center of captured objects.
Similar to the influence of symmetry, a center- of- gravity effect or global effect is reported, showing the tendency of eye saccades to land at the geometric center of a target object or target configuration [ 48– 50].
In general, the origin of each object should be the centroid of its base (i.e., the rotational center of the object in the plane on which the object rests).
The reach controller combines the output of F2 encoding the center of the object, with the output of F7 encoding the object-centered reach offset into a wrist-centered error vector defining the initial target of the reach.
Once the wrist reaches this point, the reach controller aims for the center of the object, ensuring that the hand approaches the object from the chosen direction.
It might be said that the hole at the center of an object, distally construed, is the whole of the same object, proximally construed.
