Active Binocular Gaze Control Inspired by Superior Colliculus

We describe the construction of visual maps used to guide binocular saccade-vergence movements in an active vision system. The model neurons in the maps are inspired by binocular disparity selective neurons found in the superior colliculus (SC). We modify the standard disparity energy model so that it is non-orientation selective (isotropic), like the neurons in SC. We analyze the differences between the standard and isotropic models, arguing that the isotropic disparity energy is well suited for gaze control. Finally, we describe the hardware implementation of this model, which we use to demonstrate that these model neurons can be effective in guiding binocular gaze control of a robotic vision system.