Cooperative gaze holding in binocular vision

Author

Coombs, David J. ; Brown, Christopher M.

Author_Institution

Dept. of Comput. Sci., Rochester Univ., NY, USA

Volume

11

Issue

4

fYear

1991

fDate

6/1/1991 12:00:00 AM

Firstpage

24

Lastpage

33

Abstract

Vision systems that hold their gaze on a visual target using binocular, maneuverable computer vision hardware are discussed. The benefits of gaze holding are identified, and the role of binocular cues and vergence in implementing a gaze-holding system is addressed. A combination of Smith prediction and optimal signal estimation that allows a system of several simulated interacting gaze-holding controls to act together coherently, despite delays and shared output variables, to produce zero-latency tracking of a moving target is described. It is shown how tracking the object increases its signal by improving its image quality and decreases the signal of competing objects by decreasing their image quality. The implementation of a subset of the gaze-holding capabilities (gross vergence and smooth tracking) on real-time computer vision hardware is described.<>

Keywords

computer vision; filtering and prediction theory; real-time systems; Smith prediction; binocular vision; computer vision; cooperative gaze holding; signal estimation; vergence; zero-latency tracking; Animals; Control systems; Degradation; Eyes; Head; Image sensors; Layout; Optical sensors; Retina; Robot kinematics;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.88587

Filename

88587