GAZE STABILIZATION IN ACTIVE VISION - I - VERGENCE ERROR EXTRACTION

This paper discusses the problems associated with purposeful gazing an d fixation of attention for systems with active vision. To help bridge the gap between our current standpoint in active gazing and where adv antages that holding gaze brings, we propose solution to the important problems involved in gaze stabilization, i.e. vergence error extracti on, and vergence servo control. In the first part, we focus on vergenc e error extraction. In the next paper, ''Gaze Stabilization in Active Vision II: Multi-rate Vergence Control'', we shall focus on vergence c ontrol. Binocular gazing is realized by decreasing the disparity which represents the vergence error. In order to obtain the disparity for e xtraction of vergence error, a phase-based approach that efficiently e stimates vergence disparity is developed. Experiments are conducted to investigate the effects of window size, segmentation techniques, and illumination. (C) 1997 Pattern Recognition Society. Published by Elsev ier Science Ltd.