Abstract
In this paper, we described a tracking and accommodation system controlled by retinal motion flow. The tracking system is decomposed in two basic behaviors: smooth-pursuit and vergence. Both behaviors are optical flow based. The eye accommodation (focusing) is based on a focusing-by-vergence approach combining a flow based vergence process with an off-line pre-calibration of the lens focusing odometry. The focusing and tracking system run is parallel and are both velocity controlled.