E. Huber et D. Kortenkamp, A BEHAVIOR-BASED APPROACH TO ACTIVE STEREO VISION FOR MOBILE ROBOTS, Engineering applications of artificial intelligence, 11(2), 1998, pp. 229-243
This paper describes an active stereo vision system that uses a behavi
or-based approach to control gaze. The system concentrates its computa
tional resources on cubic volumes of space called proximity spaces. Ea
ch proximity space is controlled by a set of behaviors that combine to
determine its location in the next processing frame. Multiple proximi
ty spaces can be chained together using kinematic models to perform co
mplex 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 rob
ot system can perform tasks such as pursuing other agents, recognizing
natural gestures and avoiding obstacles. (C) 1998 Elsevier Science Lt
d. All rights reserved.