Binocular tracking and accommodation controlled by retinal motion flow

Describes a tracking and accommodation system controlled by retinal motion flow. The tracking system decomposes two basic behaviors: smooth-pursuit and vergence. Both behaviors are optical flow based. The eye´s accommodation (focusing) is based on a focusing-by-vergence approach combining a flow based vergence process with an off-line pre-calibration of the lens focusing odometry. The focusing and tracking system run in parallel and are both velocity controlled