30 April 1992 Flexible task-specific control using active vision
Author Affiliations +
Abstract
This paper is about the interface between continuous and discrete robot control. We advocate encapsulating continuous actions and their related sensing strategies into behaviors called situation specific activities, which can be constructed by a symbolic reactive planner. Task- specific, real-time perception is a fundamental part of these activities. While researchers have successfully used primitive touch and sonar sensors in such situations, it is more problematic to achieve reasonable performance with complex signals such as those from a video camera. Active vision routines are suggested as a means of incorporating visual data into real time control and as one mechanism for designating aspects of the world in an indexical-functional manner. Active vision routines are a particularly flexible sensing methodology because different routines extract different functional attributes from the world using the same sensor. In fact, there will often be different active vision routines for extracting the same functional attribute using different processing techniques. This allows an agent substantial leeway to instantiate its activities in different ways under different circumstances using different active vision routines. We demonstrate the utility of this architecture with an object tracking example. A control system is presented that can be reconfigured by a reactive planner to achieve different tasks. We show how this system allows us to build interchangeable tracking activities that use either color histogram or motion based active vision routines.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Robert James Firby, Robert James Firby, Michael J. Swain, Michael J. Swain, } "Flexible task-specific control using active vision", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57922; https://doi.org/10.1117/12.57922
PROCEEDINGS
12 PAGES


SHARE
RELATED CONTENT

Needs and emerging trends of remote sensing
Proceedings of SPIE (June 03 2014)
Design Issues In Teleoperator Vision Systems
Proceedings of SPIE (May 04 1986)
Augmented reality to enhance an active telepresence system
Proceedings of SPIE (December 16 1996)
Harvard binocular head
Proceedings of SPIE (February 29 1992)
Coping with delays for real time gaze control the...
Proceedings of SPIE (August 19 1993)

Back to Top