A behavior-based approach to active stereo vision for mobile robots
This paper describes an active stereo vision system that uses a behavior-based approach to control gaze. The system concentrates its computational resources on cubic volumes of space called proximity spaces. Each proximity space is controlled by a set of behaviors that combine to determine its location in the next processing frame. Multiple proximity spaces can be chained together using kinematic models to perform complex visual tasks. The vision system is mounted on a mobile robot and integrated into an intelligent control architecture. The intelligent control architecture serves to interpret the vision system output in a task context and produces appropriate robot motion. The resulting robot system can perform tasks such as pursuing other agents, recognizing natural gestures and avoiding obstacles.
stereo vision mobile robots intelligent control active vision