A BINOCULAR VISION SYSTEM WITH ATTENTIVE SACCADE AND SPATIAL VARIANT VERGENCE CONTROL

Abstract

The human vision system is a flexible and robust binocular vision system capable of fast appreciation of the environment. This article presents an active binocular vision system with saccade and vergence capabilities to simulate fundamental human vision. A saccade generation model based on image segmentation and color attention was developed to provide simple behaviors of bottom-up attentive saccade. A vergence control model utilizing the retino-cortical log polar mapping in the primate visual cortex was developed to effectively control the vergence of two cameras in a cluttered environment. The combination of these two mechanisms provides the system a way to explore and reconstruct positional information of attended objects in the environment.