GAZE STABILIZATION IN ACTIVE VISION - II - MULTIRATE VERGENCE CONTROL

Vergence error extraction and vergence servo control is important issu es in gaze stabilization. In the previous paper, ''Purposeful Gazing f or Active Vision I: Vergence Error Extraction'', we have discussed the techniques in fixation point selection and the phase-based vergence d isparity extraction algorithm. In this paper, we introduce a feedback information prediction and dynamic vision-based self-tuning control st rategy to achieve vergence control. This strategy reflects the nature and function of visual processing involved in vergence control loop an d tends to correct some confusion in existing vision-based control sys tem development. (C) 1997 Pattern Recognition Society. Published by El sevier Science Ltd.