Robotic gaze and vergence control via disparity energy neurons

We briefly describe a demonstration of an active stereo vision system with gaze and vergence control driven by models of the disparity selective neurons in the mammalian visual cortex. The hardware consists of a stereo camera mounted on a pan-tilt head and three multimap boards. The multimap boards compute multiple cortical maps responding to target locations, orientations and disparities, and generate movement commands to track target in space. Each board can compute more than 10 cortical maps at 320*240 pixel resolution and 25 frames per second, and consumes 3.5 W. A more complete description is available in a paper presented at the 2008 International Symposium on Circuits and Systems.