Coarse Image Motion for Saccade Control [chapter]

Philip F. McLauchlan, Ian Reid, David W. Murray
1992 BMVC92  
We describe a 2D vision module that estimates the motion of moving objects for the purpose of driving saccadic head/eye motions to fixate them. Robustness and a fast reaction time are the main requirements of the module. The apparently moving background is segmented from the moving objects in the scene using a prediction of the background flow obtained from head odometry. Subsequently the velocities of the detected objects are determined using a least-square method to solve the aperture
more » ... The algorithm has been implemented at frame rate (25Hz) on a network of five transputers, and has a latency of approximately 0.06s.
doi:10.1007/978-1-4471-3201-1_37 fatcat:pk5nljpecbbn5kki44fqplyt3i