6 October 1998 Active vision system integrating fast and slow processes
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This paper describes an Active Vision System whose design assumes a distinction between fast or reactive and slow or background processes. Fast processes need to operate in cycles with critical timeouts that may affect system stability. While slow processes, though necessary, do not compromise system stability if its execution is delayed. Based on this simple taxonomy, a control architecture has been proposed and a prototype implemented that is able to track people in real-time with a robotic head while trying to identify the target. In this system, the tracking mobile is considered as the reactive part of the system while person identification is considered a background task. This demonstrator has been developed using a new generation DSP (TMS320C80) as a specialized coprocessor to deal with fast processes, and a commercial robotic head with a dedicated DSP-based motor controller. These subsystems are hosted by a standard Pentium-Pro PC running Windows NT where slow processes are executed. The flexibility achieved in the design phase and the preliminary results obtained so far seem to validate the approach followed to integrate time- critical and slow tasks on a heterogeneous hardware platform.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Modesto Castrillon-Santana, Modesto Castrillon-Santana, C. Guerra-Artal, C. Guerra-Artal, J. Hernandez-Sosa, J. Hernandez-Sosa, A. Dominguez-Brito, A. Dominguez-Brito, J. Isern-Gonzalez, J. Isern-Gonzalez, Jorge Cabrera-Gamez, Jorge Cabrera-Gamez, F. M. Hernandez-Tejera, F. M. Hernandez-Tejera, } "Active vision system integrating fast and slow processes", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325794; https://doi.org/10.1117/12.325794


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