15.1.6 Active Vision: Gaze Control

Aloimonos, Y., and Brown, C.M.,
On the Kinetic Depth Effect,
BioCyber(60), No. 6, 1989, pp. 445-455. BibRef 8900

Rimey, R.D., and Brown, C.M.,
Controlling Eye Movements with Hidden Markov Models,
IJCV(7), No. 1, November 1991, pp. 47-65. BibRef 9111

Crowley, J.L.,
Coordination of Action and Perception in a Surveillance Robot,
IEEE_Expert(2), November 1987. BibRef 8711
Earlier: IJCAI87(793-796). BibRef

Barth, M.J., Tsuji, S.,
Egomotion Determination Through an Intelligent Gaze Control Strategy,
SMC(23), 1993, pp. 1424-1432. BibRef 9300

Pahlavan, K., Eklundh, J.O.,
Heads, Eyes, and Head-Eye Systems,
PRAI(7), No. 1, February 1993, pp. 33-49. BibRef 9302
Earlier: SPIE(1708), 1992, pp. 14-25. BibRef

Gårding, J., and Lindeberg, T.,
Direct Estimation of Local Surface Shape in a Fixating Binocular Vision System,
ECCV94(A:365-376).
WWW Version. BibRef 9400
And: ISRN KTH/NA/P--94/08--SE, February 1994.
HTML Version. And
Postscript Version. BibRef

Reddi, S., Loizou, G.,
Analysis Of Camera Behavior During Tracking,
PAMI(17), No. 8, August 1995, pp. 765-778.
IEEE Abstract. IEEE Top Reference.
WWW Version. Active Vision. Gaze Control. BibRef 9508

Francisco, A.,
Continuous Principal Distance Change for Binocular Depth-Perception,
IVC(13), No. 2, March 1995, pp. 101-109.
WWW Version. BibRef 9503

Francisco, A.,
Active Structure Acquisition by Continuous Fixation Movements,
Ph.D.Dept. of Numerical Analysis and Computing Science, Royal Institute of Technology, June 1994. BibRef 9406 ISRN KTH/NA/P--94/17--SE. BibRef
Earlier:
Relative Depth from Vergence Micromovements,
ICCV93(481-486).
WWW Version. BibRef
And: ISRN KTH/NA/P--92/33--SE, October 1992. BibRef
And:
Continuous Vergence Movements for Depth Perception,
Licentiate dissertation, Dept. of Numerical Analysis and Computing Science, Royal Institute of Technology, September 1993. ISRN KTH/NA/P-93/28-SE. BibRef
And:
Vergence Micromovements and Depth Perception,
ISRN KTH/NA/P-92/26-SE, October 1992. BibRef

Francisco, A., Uhlin, T., and Eklundh, J.O.,
Continuous Vergence Movements for Relative Depth Acquisition,
SCIA93(97-104). BibRef 9300

Brunnström, K., Eklundh, J.O., and Uhlin, T.[Tomas],
Active Fixation for Scene Exploration,
IJCV(17), No. 2, February 1996, pp. 137-162. BibRef 9602
And: BMVC93(xx). BibRef
And: ISRN KTH/NA/P--93/11--SE, March 1993.
HTML Version. BibRef

Brunnström, K., Lindeberg, T., and Eklundh, J.O.,
Active Detection and Classification of Junctions by Foveation with a Head-Eye System Guided by the Scale-Space Primal Sketch,
ECCV92(701-709).
WWW Version. BibRef 9200
And: ISRN KTH/NA/P-91/31-SE November 1993.
HTML Version. And
Postscript Version. See also Junction Detection with Automatic Selection of Detection Scales and Localization Scales. BibRef

Brunnström, K.[Kjell], Eklundh, J.O.[Jan-Olof],
Active Fixation for Junction Classification,
ISRN KTH/NA/P-92/35-SE, November 1992. BibRef 9211
And: CAIP93(452-459).
WWW Version. 9309 BibRef

Brunnström, K.,
Active Exploration of Static Scenes,
Ph.D.Dept. of Numerical Analysis and Computing Science, Royal Institute of Technology, October 1993. BibRef 9310 ISRN KTH/NA/P--93/29--SE. BibRef

Pahlavan, K., Uhlin, T., and Eklundh, J.O.,
Dynamic Fixation and Active Perception,
IJCV(17), No. 2, February 1996, pp. 113-135. BibRef 9602
And: ISRN KTH/NA/P--93/05--SE, February 1993. BibRef
And:
Dynamic Fixation,
ICCV93(412-419).
WWW Version. BibRef

Christensen, H.I.,
A Low-Cost Robot Camera Head,
PRAI(7), No. 1, February 1993, pp. 69-87. BibRef 9302
Earlier:
AUC Robot Camera Head,
SPIE(1708), 1992, pp. 26-33. BibRef

Brown, C.M.,
Gaze Controls Cooperating Through Prediction,
IVC(8), No. 1, February 1990, pp. 10-17.
WWW Version. BibRef 9002

Brown, C.M.,
Gaze Controls with Interactions and Delays,
SMC(20), 1990, pp. 518-527. BibRef 9000
Earlier: DARPA89(200-218). BibRef

Brown, C.M.,
Kinematic and 3D Motion Prediction for Gaze Control,
3DWS89(145-151). BibRef 8900

Fermüller, C., and Aloimonos, Y.,
The Role of Fixation in Visual-Motion Analysis,
IJCV(11), No. 2, October 1993, pp. 165-186. BibRef 9310

Fermüller, C.,
Passive Navigation as a Pattern-Recognition Problem,
IJCV(14), No. 2, March 1995, pp. 147-158. BibRef 9503

Fermüller, C., Cheong, L.F.[Loong Fah], Aloimonos, Y.,
3D Motion and Shape Representations in Visual Servo Control,
IJRR(17), No. 1, January 1998, pp. 4-18. 9806 BibRef
Earlier:
3D Motion Representations in Visual Servo Control,
SCV95(61-66).
IEEE Top Reference. University of Maryland. Object pursuit and moving toward a fixed direction. See also Visual Space Distortion. BibRef

Cheong, L.F.[Loong Fah], Fermüller, C., Aloimonos, Y.,
Spatiotemporal Representations for Visual Navigation,
ECCV96(I:671-684).
WWW Version. Used for changing direction, pursuit, and wall following. BibRef 9600

Fermüller, C., Aloimonos, Y.,
Perceptual Computational Advantages of Tracking,
ICPR92(I:599-602).
WWW Version. BibRef 9200

Fermüller, C.[Cornelia],
Navigational Preliminaries,
ActPercep93 BibRef 9300

Fermüller, C.[Cornelia], and Aloimonos, Y.[Yiannis],
Direct Motion Perception,
VisNav93(xx-yy). BibRef 9300

Fermüller, C., Aloimonos, Y.,
Towards a Theory of Direct Perception,
ARPA96(1287-1296). BibRef 9600

Bradshaw, K.J., McLauchlan, P.F., Reid, I.D., Murray, D.W.,
Saccade and Pursuit on an Active Head Eye Platform,
IVC(12), No. 3, April 1994, pp. 155-163.
WWW Version.
WWW Version. BibRef 9404
Earlier: BMVC93(xx). BibRef

Swain, M.J., Kahn, R.E., and Ballard, D.H.,
Low Resolution Cues for Guiding Saccadic Eye Movements,
CVPR92(737-740).
IEEE Abstract. IEEE Top Reference. BibRef 9200

Krotkov, E.P.,
Active Computer Vision by Cooperative Focusing and Stereo,
Berlin: Springer-Verlag1989. BibRef 8900 Book BibRef
Earlier:
Exploratory Visual Sensing for Determining Spatial Layout with an Agile Stereo Camera System,
Ph.D.April 1987, BibRef UPennMS_CIS-87-29. See also Stereo Ranging with Verging Cameras. and See also Active Vision for Reliable Ranging: Cooperating Focus, Stereo, and Vergence. This describes a robot system that determines the location of objects with focus and vergence of stereo cameras. BibRef

Pahlavan, K., and Eklundh, J.O.,
A Head-Eye System: Analysis and Design,
CVGIP(56), No. 1, July 1992, pp. 41-56.
WWW Version. BibRef 9207
And: ISRN KTH/NA/P-92/08-SE. BibRef
Earlier:
A Head-Eye System for Active, Purposive Computer Vision,
ISRN KTH/NA/P-90/31-SE, 1990. BibRef

Yuille, A.L., and Geiger, D.,
Stereo and Controlled Movement,
IJCV(4), No. 2, March 1990, pp. 141-152. BibRef 9003
Earlier: A2, A1:
Stereopsis And Eye-Movement,
ICCV87(306-314). BibRef
And:
Stereo and Eye Movement,
MIT AI Memo-927, January 1988. Solve the stereo matching by moving the cameras. BibRef

Marapane, S.B., Trivedi, M.M.,
Experiments in Active Vision with Real and Virtual Robot Heads,
AppIntel(5), No. 3, July 1995, pp. 237-250. BibRef 9507

Eklund, M., Ravichandran, G., Trivedi, M.M., Marapane, S.B.,
Adaptive Visual Tracking Algorithm and Real Time Implementation,
CRA95(xx-yy). BibRef 9500
And:
Visual Servoing using Correlation Filters,
WACV94(256-263).
IEEE Abstract. IEEE Top Reference. Filters, Correlation. Tracking Objects. Real time servoing. BibRef

Marapane, S.B., Holder, M., and Trivedi, M.M.,
Coordinating Motion of Cooperative Mobile Robots Through Visual Observation,
SMC-C94(2260-2265). Cooperating Robots. BibRef 9400

Marapane, S.B., Lassiter, T.N., and Trivedi, M.M.,
A Real and Virtual Robot Head for Active Vision Research,
SPIE(1828), November 1992, pp. 60-73. BibRef 9211

Theimer, W.M.[Wolfgang M.], Mallot, H.A.[Hanspeter A.],
Phase-Based Binocular Vergence Control and Depth Reconstruction Using Active Vision,
CVGIP(60), No. 3, November 1994, pp. 343-358.
WWW Version. BibRef 9411

Murray, D., Basu, A.,
Motion Tracking with an Active Camera,
PAMI(16), No. 5, May 1994, pp. 449-459.
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9405

Reid, I.D., and Murray, D.W.,
Active Tracking of Foveated Feature Clusters Using Affine Structure,
IJCV(18), No. 1, April 1996, pp. 41-60.
HTML Version. BibRef 9604
Earlier:
Tracking Foveated Corner Clusters Using Affine Structure,
ICCV93(76-83).
WWW Version. Real-time hardware for tracking. 9605 BibRef

Hayman, E.[Eric], Thórhallsson, T.[Torfi], Murray, D.W.[David W.],
Tracking While Zooming Using Affine Transfer and Multifocal Tensors,
IJCV(51), No. 1, January 2003, pp. 37-62.
WWW Version.
HTML Version. 0211 BibRef

Hayman, E., Reid, I.D., and Murray, D.W.,
Zooming While Tracking Using Affine Transfer,
BMVC96(395-404). 9608
HTML Version. University of Oxford BibRef

Hayman, E.[Eric],
The Use of Zoom within Active Vision,
Ph.D.Thesis, University of Oxford, 2000.
HTML Version. BibRef 0001

Hayman, E., Murray, D.W.,
The effects of translational misalignment when self-calibrating rotating and zooming cameras,
PAMI(25), No. 8, August 2003, pp. 1015-1020.
IEEE Abstract. IEEE Top Reference. 0308E.g. cameras mounted on pan/tilt heads do not translate. But the rotation center is not the optic center. Show that the approximation of rotation is sufficient in many cases. BibRef

Kyung, M.H., Kim, M.S., Hong, S.J.,
A New Approach to Through-the-Lens Camera Control,
GMIP(58), No. 3, May 1996, pp. 262-285. 9606 BibRef

Korteling, J.E., Vanderborg, W.,
Partial Camera Automation in an Unmanned Air Vehicle,
SMC-A(27), No. 2, March 1997, pp. 256-262.
IEEE Top Reference. 9703 BibRef

Bruske, J., Hansen, M., Riehn, L., Sommer, G.,
Biologically Inspired Calibration Free Adaptive Saccade Control of a Binocular Camera Head,
BioCyber(77), No. 6, December 1997, pp. 433-446. 9801 BibRef

Janabi-Sharifi, F., Wilson, W.J.,
Automatic Selection of Image Features for Visual Servoing,
RA(13), No. 6, December 1997, pp. 890-903. 9801 BibRef

Janabi-Sharifi, F., Ficocelli, M.,
Formulation of Radiometric Feasibility Measures for Feature Selection and Planning in Visual Servoing,
SMC-B(34), No. 2, April 2004, pp. 978-987.
IEEE Abstract. IEEE Top Reference. 0404 BibRef

Wixson, L.[Lambert], Eledath, J.[Jayan], Hansen, M.[Michael], Mandelbaum, R.[Robert], Mishra, D.[Deepam],
Image Alignment for Precise Camera Fixation and Aim,
CVPR98(594-600).
IEEE Abstract. IEEE Top Reference. BibRef 9800
And: DARPA98(357-364). BibRef

Murray, D.W., Reid, I.D., and Davison, A.J.,
Steering without Representation using Active Fixation,
Perception(26), 1997, pp. 1519-1528.
HTML Version. BibRef 9700
Earlier:
Steering and Navigation Behaviours Using Fixation,
BMVC96(635-644). 9608
HTML Version. University of Oxford BibRef

Niem, W.[Wolfgang],
Automatic reconstruction of 3D objects using a mobile cameraühle,
IVC(17), No. 2, February 1999, pp. 125-134.
WWW Version. BibRef 9902

Niem, W., Wingbermuhle, J.,
Automatic Reconstruction of 3D Objects Using a Mobile Monoscopic Camera,
3DIM97(8 - Object Modeling) 9702 BibRef

Niem, W.[Wolfgang], Steinmetz, M.,
Camera Viewpoint Control for the Automatic Reconstruction of 3D Objects,
ICIP96(III: 655-658).
WWW Version. BibRef 9600

Wei, G.Q., Hirzinger, G.,
Multisensory Visual Servoing by a Neural Network,
SMC-B(29), No. 2, April 1999, pp. 276.
IEEE Top Reference. BibRef 9904

Drummond, T.W.[Tom W.], Cipolla, R.[Roberto],
Application of Lie Algebras to Visual Servoing,
IJCV(37), No. 1, June 2000, pp. 21-41.
WWW Version. 0005
HTML Version.
Postscript Version. BibRef
Earlier:
Visual Tracking and Control using Lie Algebras,
CVPR99(II: 652-657).
IEEE Abstract. IEEE Top Reference.
WWW Version.
HTML Version.
Postscript Version. See also Real-Time Visual Tracking of Complex Structures. BibRef

Malis, E.[Ezio], Chaumette, F.[François],
2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement,
IJCV(37), No. 1, June 2000, pp. 79-97.
WWW Version. 0005 BibRef

Malis, E.[Ezio],
Visual Servoing Invariant to Changes in Camera Intrinsic Parameters,
ICCV01(I: 704-709).
WWW Version. 0106 BibRef

Adelstein, B.D., Ellis, S.R.,
Rotation and Direction Judgment from Visual Images Head-Slaved in Two and Three Degrees-of-Freedom,
SMC-A(30), No. 2, March 2000, pp. 165-172.
IEEE Top Reference. 0004 BibRef

Backer, G.[Gerriet], Mertsching, B.[Barbel], Bollmann, M.[Maik],
Data- and Model-Driven Gaze Control for an Active-Vision System,
PAMI(23), No. 12, December 2001, pp. 1415-1429.
IEEE Abstract. IEEE Top Reference.
WWW Version. 0112Two stage process to address natural attention issues. BibRef

Jiang, P., Unbehauen, R.,
Robot visual servoing with iterative learning control,
SMC-A(32), No. 2, March 2002, pp. 281-287.
IEEE Top Reference. 0207 BibRef

Tordoff, B.J.[Ben J.], Murray, D.W.[David W.],
Reactive control of zoom while fixating using perspective and affine cameras,
PAMI(26), No. 1, January 2004, pp. 98-112.
IEEE Abstract. IEEE Top Reference. 0401 BibRef
Earlier:
Reactive Zoom Control while Tracking Using an Affine Camera,
BMVC01(Session 2: Tracking &. Sequences).
HTML Version.
HTML Version. University of Oxford 0110Use foreground recovery of shape from motion, locate fixation point, update. BibRef

Tordoff, B.J.[Ben J.], Murray, D.W.[David W.],
A method of reactive zoom control from uncertainty in tracking,
CVIU(105), No. 2, February 2007, pp. 131-144.
WWW Version. 0702Zoom control; Visual tracking; Active vision BibRef

Tordoff, B.J., Murray, D.W.,
Resolution vs. tracking error: Zoom as a gain controller,
CVPR03(I: 273-280).
IEEE Abstract. IEEE Top Reference. 0307 BibRef

Tordoff, B.J.[Ben J.],
Active Control of Zoom for Computer Vision,
Ph.D.Thesis, University of Oxford, 2002 .
HTML Version. BibRef 0200

Pomares, J., Torres, F.,
Movement-flow-based visual servoing and force control fusion for Manipulation Tasks in unstructured environments,
SMC-C(35), No. 1, February 2005, pp. 4-15.
IEEE Abstract. IEEE Top Reference. 0501 BibRef

Lefebvre, T., Bruyninckx, H., de Schutter, J.[Joris],
Online statistical model recognition and State estimation for autonomous compliant motion,
SMC-C(35), No. 1, February 2005, pp. 16-29.
IEEE Abstract. IEEE Top Reference. 0501 BibRef

Volosyak, I., Kouzmitcheva, O., Ristic, D., Graser, A.,
Improvement of visual perceptual capabilities by feedback structures for robotic system FRIEND,
SMC-C(35), No. 1, February 2005, pp. 66-74.
IEEE Abstract. IEEE Top Reference. 0501 BibRef

de Croon, G., Postma, E.O., van den Herik, H.J.,
A situated model for sensory-motor coordination in gaze control,
PRL(27), No. 11, August 2006, pp. 1181-1190.
WWW Version. 0606Situated model; Sensory-motor coordination; Bayesian framework; Evolutionary algorithm BibRef

Björkman, M.[Mårten], Eklundh, J.O.[Jan-Olof],
Vision in the real world: Finding, attending and recognizing objects,
IJIST(16), No. 5, 2006, pp. 189-208.
WWW Version. 0704 BibRef
Earlier:
Attending, Foveating and Recognizing Objects in Real World Scenes,
BMVC04(xx-yy).
HTML Version. 0508 BibRef

Forssen, P.E.[Per-Erik],
Learning Saccadic Gaze Control via Motion Prediciton,
CRV07(44-54).
WWW Version. 0705 BibRef

Miyauchi, D., Sakurai, A., Nakamura, A., Kuno, Y.,
Human-robot eye contact through observations and actions,
ICPR04(IV: 392-395).
WWW Version. 0409 BibRef

Leonard, S., Jagersand, M.,
Approximating the visuomotor function for visual servoing,
CRV04(112-119).
IEEE Abstract. IEEE Top Reference. 0408 BibRef

Deng, Z.[Zhenyuan], Jagersand, M.,
Evaluation of model independent image-based visual servoing,
CRV04(138-144).
IEEE Abstract. IEEE Top Reference. 0408 BibRef

Denzler, J., Zobel, M., Niemann, H.,
Information theoretic focal length selection for real-time active 3-d object tracking,
ICCV03(400-407).
WWW Version. 0311 BibRef

Andreff, N.[Nicolas], Espiau, B.[Bernard], Horaud, R.[Radu],
Visual Servoing from Lines,
INRIARR-4226, July 2001.
HTML Version. 0211 BibRef

Andreff, N., Horaud, R., Espiau, B.,
On-line hand-eye calibration,
3DIM99(430-436).
WWW Version. 9910 BibRef

Lee, I.[Insuh], Jeon, B.W.[Byeung-Woo],
Gaze correction in video communication with single camera,
ICIP02(III: 857-860).
IEEE Abstract. IEEE Top Reference. 0210 BibRef

Young, R.[Rupert], Illingworth, J.[John],
A fixation and viewpoint measure for object-based gaze control,
BMVC97(xx-yy).
HTML Version. 0209 BibRef

Malis, E.,
An Unified Approach to Model-Based and Model-Free Visual Servoing,
ECCV02(IV: 433 ff.).
HTML Version. 0205 BibRef

Kawanishi, T., Murase, H., Takagi, S.,
Quick 3D object detection and localization by dynamic active search with multiple active cameras,
ICPR02(II: 605-608).
WWW Version. 0211 BibRef

Kawanishi, T., Murase, H., Takagi, S., Werner, M.,
Dynamic Active Search for Quick Object Detection with Pan-tilt-zoom Camera,
ICIP01(III: 716-719).
IEEE Abstract. IEEE Top Reference. 0108 BibRef

Tanaka, M., Maru, N., Miyazaki, F.,
Binocular gaze holding of a moving object with the active stereo vision system,
WACV94(250-255).
IEEE Abstract. IEEE Top Reference. 0403 BibRef

Maru, N., Nishikawa, A., Miyazaki, F., and Arimoto, S.,
Active Binocular Stereo,
CVPR93(724-725).
IEEE Abstract. IEEE Top Reference. BibRef 9300

Tell, D., Carlsson, S.,
View Based Visual Servoing Using Epipolar Geometry,
SCIA99(Computer Vision II). BibRef 9900

Taylor, C.J.[Camillo J.], Ostrowski, J.P.[James P.], Jung, S.H.[Sang-Hack],
Robust Visual Servoing Based on Relative Orientation,
CVPR99(II: 574-580).
IEEE Abstract. IEEE Top Reference.
WWW Version. BibRef 9900

Liu, J.[Jin],
Determination of the Point of Fixation in a Head-Fixed Coordinate System,
ICPR98(Vol I: 501-504).
WWW Version. 9808 BibRef

Vieville, T.,
Real-Time Gaze Control,
INRIAWP3/INRIA/940316/TV, April 1994. BibRef 9404

Srinivasa, N.[Narayan], Ahuja, N.[Narendra],
Learning to Fixate on 3D Targets with Uncalibrated Active Cameras,
DARPA97(129-134). BibRef 9700

Bernardino, A.[Alexandre], Santos-Victor, J.[José],
Sensor Geometry for Dynamic Vergence: Characterisation and Performance Evaluation,
PERF96(XX-YY).
HTML Version. BibRef 9600

Heuring, J.J., and Murray, D.W.,
Slaving Head and Eye Movements for Visual Telepresence,
BMVC96(515-524). 9608
HTML Version. University of Oxford BibRef

Sequeira, V., Goncalves, J., Ribeiro, M.I.,
Active View Selection for Efficient 3D Scene Reconstruction,
ICPR96(I: 815-819).
WWW Version. 9608(EC, Joint Res. Ctr., I) See also View Cube: An Efficient Method of View Planning for 3d Modelling from Range Data, The. BibRef

Araujo, H., Batista, J., Peixoto, P., Dias, J.,
Pursuit Control in a Binocular Active Vision System Using Optical Flow,
ICPR96(I: 313-317).
WWW Version. 9608(Univ. of Coimbra, P) BibRef

von Seelen, U.M.C., Bajcsy, R.,
Model-Based Gaze Control,
ARPA96(1361-1364). BibRef 9600

Westelius, C.J.[Carl-Johan],
Focus of Attention and Gaze Control for Robot Vision,
Ph.D.Thesis, Linkoping University, 1995.
HTML Version. BibRef 9500

Rao, R.P.N.[Rajesh P.N.],
Top-Down Gaze Targeting for Space-Variant Active Vision,
ARPA94(II:1049-1058). BibRef 9400

Sharkey, P.M., Murray, D.W.,
Coping with delays for Real-Time Gaze Control,
SPIE(2059), 1994, pp. xx. BibRef 9400

Wai, W.Y.K., Tsotsos, J.K.,
Directing attention to onset and offset of image events for eye-head movement control,
ICPR94(A:274-279).
WWW Version. 9410 BibRef

Sato, Y., Toyoda, M.,
Active Vision With Two Differentiated Visual Fields,
ICPR92(I:31-35).
WWW Version. BibRef 9200

Giefing, G.J., Jan, H., and Mallot, H.,
Saccadic Object Recognition With An Active Vision System,
ICPR92(I:664-667).
WWW Version. BibRef 9200

Stelmaszyk, P., Ishiguro, H., Tsuji, S.,
Mobile Robot Navigation by an Active Control of the Vision System,
IJCAI91(1241-1246). BibRef 9100

Li, S., Miyawaki, I., Ishiguro, H., Tsuji, S.,
Realizing Active Vision by a Mobile Robot,
Motion91(205-210). BibRef 9100

Barth, M.J., Ishiguro, H., Tsuji, S.,
Determining Robot Egomotion from Motion Parallax Observed by an Active Camera,
IJCAI91(1247-1253). BibRef 9100

Ballard, D.H., and Ozcandarli, A.,
Eye Fixation and Early Vision: Kinetic Depth,
ICCV88(524-531).
IEEE Abstract. IEEE Top Reference. BibRef 8800

Ballard, D.H.,
Eye Movement and Visual Cognition,
SPMSF87(188-200). BibRef 8700

Chapter on Active Vision, Camera Calibration, Mobile Robots, Navigation, Road Following continues in
Gaze Control -- Binocular System, Vergence .