Imitation of Human-Eye Motion—How to Fix Gaze of an Active Vision System

This paper is about gaze control in active vision. The problem to tackle is, given a camera imaging a particular 3-D point, to place the 3-D point at the center of the image by rotating the camera about its own optical center. For separating this procedure from structure estimation, we use a normalized camera coordinate system, which leads to formulation defined on the unit sphere. In designing the algorithm, we try to avoid the disadvantages of local coordinates or approximation. For this purpose, we design the algorithm by considering the intrinsic geometric properties of the underlying space, not using any kinds of parameterization or approximation. The proposed algorithm is simple and of a closed form, and that makes it suitable for real-time application.