In this paper we describe the implementation of real-time binocular gaze control. This implementation is performance by using a complex binocular active vision system. In addition real-time vergence is also implemented. Vergence and gaze control are implemented based on binocular optical flow. Vergence control is implemented based on optical flow disparity, using the horopter as a reference. A Kalman filter is used to filter out the signals and compensate for the delays of the system.
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Batista et al. (2002) studied this question.
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