Neuromorphic implementation of active gaze and vergence control

Abstract

We present an active stereo system with gaze and vergence control driven by model of the disparity selective neurons in the mammalian visual cortex. The hardware consists of a mobile stereo camera and three Multimap boards. The Multimap boards compute multiple cortical maps responding to target locations, orientations and disparities, and generate movement commands to track target in space. Each board can compute more than 10 cortical maps at 320*240 pixel resolution and 25 frames per second, and consumes 3.5W.