From saccades to smooth pursuit: Real-time gaze control using motion feedback

Conference item

We present an active vision system which performs a surveillance task in everyday dynamic scenes. The system is based around simple, rapid motion processors and a control strategy which uses both position and velocity information. The surveillance task is defined in terms of two separate behavioural subsystems, saccade and smooth pursuit, which are demonstrated individually on the system. We then show how these and other elementary responses to 2D motion can be built up into behaviour sequences, and how judicious close cooperation between vision and control results in smooth transitions between the behaviours. We demonstrate these ideas with an implementation of a saccade to smooth pursuit surveillance system on a high performance robotic head/eye platform.

Authors: Reid, I; Bradshaw, K; McLauchlan, P; Sharkey, P; Murray, D

• Publisher: IEEE
• Pages: 1013-1020
• Publication date: 1993-01-01
• ISBN: 0780308239