A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES

Zheng Zhu, Wei Zou, Qingbin Wang, and Feng Zhang

Keywords

Imagebased visual servo, target velocity compensation, bionic eye, oculomotor control

Abstract

Aiming at the problem of tracking delay and large errors when conventional image-based visual servo is applied to tracking moving objects, a velocity compensation image-based visual servo controller is proposed for head-fixed oculomotor control in this paper, which covers saccade, smooth pursuit and vergence. The controller consists of a basic visual servo sub-controller and a velocity compensation sub-controller. The former is used to eliminate position error and the latter takes into account the target’s velocity. Corresponding Jacobian matrixes are derived to implement the controller. At the same time, a novel adaptive gain is designed to boost the control law and continuous velocities are implemented to avoid abrupt changes. A simple but stable fixation point detection method is proposed to provide the input for the whole system. Extensive experiments are conducted and analysed in a real binocular platform implemented with off-the-shelf set-ups, which demonstrate the effectiveness of the proposed method.

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