Real-time vergence and binocular gaze control

In this paper we describe the implementation of real-time binocular gaze control. This implementation is performance by using a complex binocular active vision system. In addition real-time vergence is also implemented. Vergence and gaze control are implemented based on binocular optical flow. Vergence control is implemented based on optical flow disparity, using the horopter as a reference. A Kalman filter is used to filter out the signals and compensate for the delays of the system.