A Portable Bio-inspired Architecture
Efficient Robotic Vergence Control

This project provides a software module for the control of the binocular coordination of a robotic stereo head, based on a bio-inspired algorithm. The algorithm works on the top of a distributed representation of binocular disparity supplied by a population of binocular energy-model neural units. The project allows a robust control and adaptive binocular coordination for different robot stereo platforms. .

Reference Publication:
Gibaldi, A., Vanegas, M., Canessa, A., & Sabatini, S. P. (2017). A portable bio-inspired architecture for efficient robotic vergence control. International Journal of Computer Vision, 121(2), 281-302., 4.

Gibaldi, A., Canessa, A., Chessa, M., Sabatini, S. P., & Solari, F. (2011, October). A neuromorphic control module for real-time vergence eye movements on the iCub robot head. In Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on (pp. 543-550). IEEE. , 4.


C/C++ CODE: (Sourceforge Repository)

  • Easily portable on binocular robotic platforms with different geometries
  • Provides effective alignment of the eyes in the 3D space (error < 0.2 deg)
  • Controls both horizontal alignment and vertical alignment of the cameras
  • Real-time capabilities
  • Software developed on C/C++ with OpenCV 3.3.1
  • Compiled on Visual Studio 2012, Windows 10
  • Portable to other IDEs (e.g., MinGW) and operative systems (e.g., Linux)

Demo video in simulation

Demo video on a iCub stereo head