Subpixel resolution binocular visual tracking using analog VLSI vision sensors

This paper describes the application of an analog VLSI vision sensor to active binocular tracking. The sensor outputs are used to control the vergence angles of the two cameras and the tilt angle of the head so that the center pixels of the sensor arrays image the same point in the environment. One distinguishing feature of the sensor used here is the possibility to resolve target displacement with subpixel resolution via a phase-based algorithm, which integrates information over multiple pixels