Optimal control problems in binocular vision

Methma M. Rajamuni, Eugenio Aulisa, Bijoy K. Ghosh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations


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'. The version component produces identical eye movement in both the eyes, and is used to follow a target located far away by taking the general direction of the target. In order to focus on a closer target, the eyes rotate in opposite directions, using the vergence component. A typical eye movement can be regarded as a concatenation of version followed by vergence. These two eye movements are modeled in this paper assuming that the eyes are perfect spheres with their mass distributed uniformly and that the eyes rotate about their own centers. An optimal control problem is considered where the goal is to rotate an eye pair from an initial 'parallel gaze direction' to a final 'gaze focusing on a target'. The eye pairs are to be actuated optimally using an external torque vector of minimum energy.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Number of pages7
ISBN (Electronic)9783902823625
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Conference19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Country/TerritorySouth Africa
CityCape Town


  • Binocular Vision
  • Euler Lagrange's Equation
  • Eye Movement
  • Listing's Plane
  • Mid-Sagittal Plane
  • Optimal Control


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