Heterogeneous 3-D Perception across Visual Fragments Project Acronym: EYESHOTS Deliverable no: D1.1 Title of the deliverable: Binocular eye coordination and its role in depth vision.

The problem of binocular eye coordination in stereovision is tackled from a computational point of view. Specifically, this deliverable focuses on the problem of controlling the vergence over the surface of an object assumed within the peri-personal workspace of a robot. Built upon this control module, a control scheme to make possible arbitrary motion of the vergence point is proposed. We conjecture that small and smooth sliding motions around local salient features might have a role to improve the perception of the 3D object properties. Biologically related constraints on torsional ocular postures are also considered as additional degrees of freedom on the eyes/cameras movements.

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