Gaze stabilization in active vision—II. Multi-rate vergence control

Abstract

Vergence error extraction and vergence servo control is important issues in gaze stabilization. In the previous paper, ‘Purposeful Gazing for Active Vision 1: Vergence Error Extraction’, we have discussed the techniques in fixation point selection and the phase-based vergence disparity extraction algorithm. In this paper, we introduce a feedback information prediction and dynamic vision-based self-tuning control strategy to achieve vergence control. This strategy reflects the nature and function of visual processing involved in vergence control loop and tends to correct some confusion in existing vision-based control system development.