Kinematic and 3D motion prediction for gaze control

Estimation and prediction of the state of dynamical systems operating in three dimensions, and of mechanisms acting in space, provide a way for multiple-loop, multirate, time-delayed control systems to cooperate. Animate vision systems, biological or robotic, employ gaze control systems to acquire, fixate, and stabilize images. The aim is to build robust gaze control behavior from cooperating lower level visual reflexes. Solutions are explored through simulation incorporating ten primitive gaze control capabilities, more or less comparable to subsystems in primate gaze and head control. Versions of several of the subsystems have been implemented on a binocular robot. Smith prediction is the basic paradigm, using kinematic simulation of the agent and optimal filtering to predict world state