Purposeful gazing in active vision through phase-based disparity and dynamic vergence control

In this research we propose solutions to the problems involved in gaze stabilization of a binocular active vision system, i.e., vergence error extraction, and vergence servo control. Gazing is realized by decreasing the disparity which represents the vergence error. A Fourier transform based approach that robustly and efficiently estimates vergence disparity is developed for holding gaze on selected visual target. It is shown that this method has certain advantages over existing approaches. Our work also points out that vision sensor based vergence control system is a dual sampling rate system. Feedback information prediction and dynamic vision-based self-tuning control strategy are investigated to implement vergence control. Experiments on the gaze stabilization using the techniques developed in this paper are performed.