Visual tracking with sub-pixel resolution using an analog VLSI computational sensor

This paper describes the application of a computational vision sensor to active binocular tracking. The sensor outputs are used to control the vergence angles of the two cameras and the tilt angle of the head so that the center pixels of the sensor arrays image the same point in the environment. One distinguishing feature of the sensor used here is the possibility to resolve target motions with subpixel resolution. This is due to the use of a phase based algorithm which integrates information over multiple pixels