GARGOYLE: Context-sensitive active vision for mobile robots (1996)
| Venue: | In Proceedings of AAAI-96 |
BibTeX
@INPROCEEDINGS{James96gargoyle:context-sensitive,
author = {Peter Prokopowicz James and R. James Firby and Roger E. Kahn and Michael J. Swain},
title = {GARGOYLE: Context-sensitive active vision for mobile robots},
booktitle = {In Proceedings of AAAI-96},
year = {1996},
publisher = {AAAI}
}
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Abstract
Researchers in robot vision have access to several excellent image processing packages #e.g., Khoros, Vista, Susan, MIL, and XVision to name only a few# as a base for any new vision software needed in most navigation and recognition tasks. Our work in automonous robot control and human-robot interaction, however, has demanded a new level of run-time #exibility and performance: on-the-#y con#guration of visual routines that exploit up-to-the-second context from the task, image, and environment. The result is Gargoyle: an extendible, on-board, real-time vision software package that allows a robot to con#gure, parameterize, and execute image-processing pipelines at run-time. Each operator in a pipeline works at a level of resolution and over regions of interest that are computed by upstream operators or set by the robot according to task constraints. Pipeline con#gurations and operator parameters can be stored as a library of visual methods appropriate for di#erent sensing t...
Keyphrases
context-sensitive active vision mobile robot di erent visual method image-processing pipeline new vision software new level upstream operator automonous robot control recognition task run-time exibility pipeline con gurations on-the con guration visual routine human-robot interaction several excellent image processing package operator parameter real-time vision software package task constraint robot vision up-to-the-second context
