TY - GEN
T1 - Binocular eye tracking control satisfying Hering's law
AU - Wijayasinghe, Indika
AU - Ghosh, Bijoy K.
PY - 2013
Y1 - 2013
N2 - Human eye movement can be looked at, as a rotational dynamics on the space SO(3) with constraints that have to do with the axis of rotation. A typical eye movement can be decomposed into two components, that go by the name 'version' and 'vergence'. Hering's law proposes that the version component of the eye movement is identical in both the eyes, and versional eye movement is used to follow a target located far away. In order to focus on a closer target, the eyes rotate in opposite directions, using the vergence component. A typical eye movement would be regarded as a concatenation of version followed by vergence. In this paper, we shall represent such eye movements using unit quaternion, with constraints. Assuming that the eyes are perfect spheres with their mass distributed uniformly and rotating about their own centers, eye movement models are constructed using classical mechanics. For targets moving in near field, for which both version and vergence eye movements are required, optimal eye movement trajectories are simulated, where the goal is to minimize a quadratic cost function on the energy of the applied control torques.
AB - Human eye movement can be looked at, as a rotational dynamics on the space SO(3) with constraints that have to do with the axis of rotation. A typical eye movement can be decomposed into two components, that go by the name 'version' and 'vergence'. Hering's law proposes that the version component of the eye movement is identical in both the eyes, and versional eye movement is used to follow a target located far away. In order to focus on a closer target, the eyes rotate in opposite directions, using the vergence component. A typical eye movement would be regarded as a concatenation of version followed by vergence. In this paper, we shall represent such eye movements using unit quaternion, with constraints. Assuming that the eyes are perfect spheres with their mass distributed uniformly and rotating about their own centers, eye movement models are constructed using classical mechanics. For targets moving in near field, for which both version and vergence eye movements are required, optimal eye movement trajectories are simulated, where the goal is to minimize a quadratic cost function on the energy of the applied control torques.
KW - Binocular vision
KW - Euler lagrange's equation
KW - Eye movement
KW - Listing's plane
KW - Mid-sagittal plane
KW - Optimal control
UR - http://www.scopus.com/inward/record.url?scp=84902354909&partnerID=8YFLogxK
U2 - 10.1109/CDC.2013.6760914
DO - 10.1109/CDC.2013.6760914
M3 - Conference contribution
AN - SCOPUS:84902354909
SN - 9781467357173
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6475
EP - 6480
BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 52nd IEEE Conference on Decision and Control, CDC 2013
Y2 - 10 December 2013 through 13 December 2013
ER -