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- Overview and credits

- How to install

- Demo video

- Code explanation

- Binocular energy model

- Vergence control

- Control evaluation

The project is now available for the iCub platform to work on YARP

Overview and Credits

Credits

The implemented software Toolkit for Matlab communication is released by the authors for research purposes only. If you want to acknowledge use of this software when you publish your research, do not thank us, but please us.

The last version of the Vergcence Control is described in this paper:

Gibaldi, A., Vanegas, M., Canessa, A., & Sabatini, S. P. (2017). A portable bio-inspired architecture for efficient robotic vergence control. International Journal of Computer Vision, 121(2), 281-302.

The theory behing the combined control of horizontal and vertical vergence is provided here:
* Gibaldi, A., Canessa, A., Chessa, M., Solari, F., & Sabatini, S. P. (2012, June). A neural model for coordinated control of horizontal and vertical alignment of the eyes in three-dimensional space. In Biomedical robotics and biomechatronics (biorob), 2012 4th ieee ras & embs international conference on (pp. 955-960). IEEE.*

The first implementation in real time, based on Intel IPP is described in this paper:
Gibaldi, A., Canessa, A., Chessa, M., Sabatini, S. P., & Solari, F. (2011, October). A neuromorphic control module for real-time vergence eye movements on the iCub robot head. In Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on (pp. 543-550). IEEE.

The original theoretical approach, implemented in simulation, is described in this paper:
Gibaldi, A., Chessa, M., Canessa, A., Sabatini, S. P., & Solari, F. (2010). A cortical model for binocular vergence control without explicit calculation of disparity. Neurocomputing, 73(7-9), 1065-1073.

Licence

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                           A Portable Bio-Inspired Architecture for                       
                           Efficient Robotic Vergence ControlCopyright (c) Sep. 2017                                                                        
                           All rights reserved.

                            Authors: Agostino Gibaldi, Andrea Canessa ,  Silvio P. Sabatini

                           PSPC-lab - Department of Informatics, Bioengineering,        
                           Robotics and Systems Engineering - University of Genoa

                           The code is released for free use   for SCIENTIFIC RESEARCH ONLY.

                           Permission to use, copy, or modify this software and its documentation
                           for educational and research purposes only and without fee is hereby
                           granted, provided that this copyright notice and the original authors'
                           names appear on all copies and supporting documentation. This program
                           shall not be used, rewritten, or adapted as the basis of a commercial
                           software or hardware product without first obtaining permission of the
                           authors. The authors make no representations about the suitability of
                           this software for any purpose. It is provided "as is" without express
                           or implied warranty.

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                           This software serves for the control of binocular coordination of
                           eye movements on a robotic stereo head

                           Kindly report any suggestions or corrections to:
                            agostino.gibaldi@gmail.com

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