An Integrated System for Basic Eye Movements

摘要

A human-like active binocular vision system, inspired by binocular eye movements in animals, would help robots with automatic fast target switching, smooth target pursuing and efficient visual stabilization. In this paper, a control model that integrates saccadic eye movement, smooth pursuit eye movement, vestibulo-ocular reflex and optokinetic response is proposed. The control interface of the model has been simplified to one external saccadic command input. By Using this target selection command, target switching, target pursuing and visual stabilization of camera would run automatically. To implement the system with parallel processing, like the one used in neural network, the control model and multi-motor control are implemented in a FPGA chip. Finally, the proposed model was tested Using an image processing PC and a binocular robot head and the results show high efficiency of this control model.