11 March 1993 Controlling a highly reactive camera using a subsumption architecture
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Abstract
This article describes how an active eye can be controlled using a subsumption architecture, in order to achieve robustness and high reactiveness. The control is implemented according to the principles of the subsumption architectures, through incremental design and test of behaviors. A simulator of an active camera —whose objective is searching for long edges in a high resolution image —wasused to test the system. The structure of each component sub-system is detailed (and its effect on the behavior of the whole system is exhibited). The task of designing image sensors for active cameras is also discussed, considering the four different sensors implemented. Some good results for different types of images are exhibited, giving support to the use of behavior-based models in the attention systems of active cameras.
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Claudio S. Pinhanez, "Controlling a highly reactive camera using a subsumption architecture", Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); doi: 10.1117/12.141759; https://doi.org/10.1117/12.141759
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KEYWORDS
Sensors

Eye

Cameras

Image sensors

Image segmentation

Artificial intelligence

Edge detection

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