Usage

- Overview and credits

- How to install

- Demo video

- Code explanation

- Binocular energy model

- Vergence control

- Control Evaluation

Here you can find a demo video of the Vergence Control working on a stereo pair.

• DEMO 1 shows the Vergence Control elaborating a 540 x 960 pixel image, 20 times in a for loop, and shows the computational time and the achieved FPS.
  - DEMO 2 elaborates a stereo image shown in anaglyph mode. The mouse is used to select the desired fixation point in the image, and the algorithm computes the required control to correctly verge at fixation. Vergence eye movements are simulated warping the stereo image, and the correct vergence is reached when the left and right images become equal at fixation, i.e. when the anaglyph turns int gray scale.

The image used in this demo is taken from the GENUA PESTO Database, which is a database of stereoscopic natural images rendered mimicking the posture of human eyes.

Here you can find a demo video of the Vergence Control working on a real robot head

The video consists of different trials:

• *Vergence on a planar surface
• Vergence on a 3D complex surface
• Vergence on a deformable surface
• Vergence in peripersonal space*

The robot head shown is from the iCub robot