Using stereomotion to track binocular targets

An algorithm is presented for the smooth tracking of a target in three-dimensional space by a binocular head which is capable of vergence, version, and tilt eye movements. This algorithm utilizes stereomotion channels to obtain a measurement of the three-dimensional velocity of the target, and then uses this velocity within a control loop to keep the target center at the fixation point of the binocular head. Although stereomotion alone is insufficient to accurately drive binocular eye movements, relative stereomotion is a useful measurement and could be easily integrated into a positional error driven tracking system