Layered Architecture for the Control of Micro Saccadic Tracking of a Stereo Camera Head
The paper describes a 3-layered architecture for the control of the stereoscopic eye-saccade system of a stereo-camera head1 mounted on an autonomous vehicle.
The 02-level is a proportional feedback controller providing a microsaccadic 2 control for eye movements enabling the head to foveate and track targets but requiring iteration through the vision system with the attendant computational overhead.
The 1-level provides the feedforward inverse kinematics for saccadic eye movements allowing a ballistic movement to replace the 0-level control loop. The training data is provided by the feedback error signal from the 0-level controller.
The 2-level is an adaptive lattice filter which is used to track moving targets. The filter is ‘trained’ using vision error-feedback from previous saccades. The filter learns to predict the future target position in the next image. This is used by the inverse kinematics module to generate the eye movement commands for the appropriate predictive saccade.
KeywordsInverse Kinematic Target Velocity Stereo Camera Target Trajectory Lattice Filter
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