Control performance issues in a binocular active vision system

The performance of a binocular active vision system depends mainly on two aspects: vision/image processing and control. We characterize the monocular performance of smooth pursuit. This system is used to track binocularly targets in a surveillance environment. One of the aspects of this characterization was the inclusion of the vision processing. To characterize the performance from the control point of view four standard types of inputs were used: step, ramp, parabola and sinusoid. The responses can be used to identify which subsystems can be optimized. We show that prediction and a velocity estimate are essential for a good tracking performance