Neurocomputing 69 (2006) 537–558 Biologically motivated vergence control system using human-like selective attention model Sang-Bok Choi a , Bum-Soo Jung b , Sang-Woo Ban b , Hirotaka Niitsuma b , Minho Lee b,Ã a Department of Sensor Engineering, Kyungpook National University, South Korea b School of Electronic and Electrical Engineering, Kyungpook National University, 1370 Sankyuk-Dong, Puk-Gu, Taegu 702-701, South Korea Received 17 December 2003; received in revised form 12 November 2004; accepted 21 December 2004 Available online 10 August 2005 Communicated by S. Usui Abstract We propose a new human-like vergence control method for an active stereo vision system. The proposed system uses a selective attention model to localize an interesting area in each camera. The selected object area in the master camera is compared with that in the slave camera to identify whether the two cameras find a same landmark. If the left and right cameras successfully find a same landmark, the implemented active vision system with two cameras focuses on the landmark. Using the motor encoder information, we can detect depth information automatically. Computer simulation and experimental results show that the proposed vergence control method is very effective in implementing the human-like active stereo vision system. r 2005 Elsevier B.V. All rights reserved. Keywords: Selective attention model; Vergence control; Stereo vision; Independent component analysis 1. Introduction When the human eye searches a natural scene, the left and right eyes converge on an interesting area by action of the brain and the eyeballs. This mechanism is divided ARTICLE IN PRESS www.elsevier.com/locate/neucom 0925-2312/$ - see front matter r 2005 Elsevier B.V. All rights reserved. doi:10.1016/j.neucom.2004.12.012 Ã Corresponding author. E-mail address: mholee@knu.ac.kr (M. Lee).