Patent ID: 8311317

Claim:
A method of learning a mapping between an eye centered coordinate representation and a head centered coordinate representation given an initial estimate of the mapping and a set of targets each with a known eye centered coordinate representation comprising: initializing the method by estimating the head centered coordinate representation for each target using the initial estimate of the mapping and the eye centered coordinate representation for each target; executing the following steps; a) selecting a target in a field of view of a first eye camera and a second eye camera; b) retrieving the eye centered coordinate representation for the target; c) commanding the first eye camera and the second eye camera to foveate on the target by moving the first eye camera and the second eye camera; d) computing the true head centered coordinate representation of the target; e) updating the mapping from eye centered coordinate representation to head centered coordinate representation using the true head centered coordinate representation for the target and the estimated head centered coordinate representations for all previously viewed targets; f) updating the estimated head centered coordinate representations for all targets previously foveated; g) computing the change in mapping; repeating steps a-g if the change in mapping is greater than a user defined threshold otherwise ending the method.