Predictive Gaze Control

Abstract

Animate vision systems, biological or robotic, employ gaze control systems to acquire, fixate, and stabilize images. Our goal is to guild robust gaze control behaviour from cooperating lower-level visual reflexes. Predictive control strategies can cope with time delayed, multi-rate, and interacting controls. Solutions are explored through simulation incorporating ten primitive gaze control capabilities, more or less comparable to subsystems in primate gaze and head control. Versions of several of the subsystems have been implemented on a binocular robot. Smith prediction is the basic paradigm, using kinematic simulation of the agent and optimal filtering to predict world state. One of the goals of artificial animate vision [2,3] is to design a systems architecture in which multiple objectives (such as moving and observing) can proceed in parallel. One common