Tracking a Moving Object with a Stereo Camera Head

We present a stereo active vision system which performs tracking tasks on smoothly moving objects in complex backgrounds. Dynamic control of the camera vergence adapt the horopter geometry to the target position and allows to pick it up easily on the basis of stereoscopic disparity features. We introduce a novel vergence control strategy based on the computation of \virtual horopters" to track a target movement generating rapid changes of disparity. We then demonstrate the eciency of the system with experimental results on a two degrees of freedom binocular head performing gaze xation on a smoothly moving target translating and rotating in a complex surrounding.