Ebook: Active Perception and Robot Vision

Intelligent robotics has become the focus of extensive research activity. This effort has been motivated by the wide variety of applications that can benefit from the developments. These applications often involve mobile robots, multiple robots working and interacting in the same work area, and operations in hazardous environments like nuclear power plants. Applications in the consumer and service sectors are also attracting interest. These applications have highlighted the importance of performance, safety, reliability, and fault tolerance. This volume is a selection of papers from a NATO Advanced Study Institute held in July 1989 with a focus on active perception and robot vision. The papers deal with such issues as motion understanding, 3-D data analysis, error minimization, object and environment modeling, object detection and recognition, parallel and real-time vision, and data fusion. The paradigm underlying the papers is that robotic systems require repeated and hierarchical application of the perception-planning-action cycle. The primary focus of the papers is the perception part of the cycle. Issues related to complete implementations are also discussed.

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Intelligent robotics has become the focus of extensive research activity. This effort has been motivated by the wide variety of applications that can benefit from the developments. These applications often involve mobile robots, multiple robots working and interacting in the same work area, and operations in hazardous environments like nuclear power plants. Applications in the consumer and service sectors are also attracting interest. These applications have highlighted the importance of performance, safety, reliability, and fault tolerance. This volume is a selection of papers from a NATO Advanced Study Institute held in July 1989 with a focus on active perception and robot vision. The papers deal with such issues as motion understanding, 3-D data analysis, error minimization, object and environment modeling, object detection and recognition, parallel and real-time vision, and data fusion. The paradigm underlying the papers is that robotic systems require repeated and hierarchical application of the perception-planning-action cycle. The primary focus of the papers is the perception part of the cycle. Issues related to complete implementations are also discussed.

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Intelligent robotics has become the focus of extensive research activity. This effort has been motivated by the wide variety of applications that can benefit from the developments. These applications often involve mobile robots, multiple robots working and interacting in the same work area, and operations in hazardous environments like nuclear power plants. Applications in the consumer and service sectors are also attracting interest. These applications have highlighted the importance of performance, safety, reliability, and fault tolerance. This volume is a selection of papers from a NATO Advanced Study Institute held in July 1989 with a focus on active perception and robot vision. The papers deal with such issues as motion understanding, 3-D data analysis, error minimization, object and environment modeling, object detection and recognition, parallel and real-time vision, and data fusion. The paradigm underlying the papers is that robotic systems require repeated and hierarchical application of the perception-planning-action cycle. The primary focus of the papers is the perception part of the cycle. Issues related to complete implementations are also discussed.
Content:
Front Matter....Pages I-IX
Motion Understanding Systems....Pages 1-22
Motion Parameter Estimation Using Correspondence Approach....Pages 23-42
Active Vision Through Prediction-Error Minimization....Pages 43-70
Representing Scenes Along a Route by a Moving Observer....Pages 71-90
Gaze Behaviors for Robotics....Pages 91-113
On Focus-of-Attention by Active Focusing....Pages 115-139
Active Perception and 3D Object Recognition....Pages 141-171
Symbolic Representation of Object Models....Pages 173-187
Environment Models and Information Assimilation....Pages 189-215
Scene Segmentation in the Framework of Active Perception....Pages 217-238
A Neural Network Application for Classifying Surfaces....Pages 239-248
Indexing via Color Histograms....Pages 249-260
On the Design of Robot Vision Systems....Pages 261-273
Parallel Vision....Pages 275-297
Towards Parallel Processing of Multisensed Data....Pages 299-306
Real-Time Vision for Autonomous and Teleoperated Control of Unmanned Vehicles....Pages 307-319
Behavioral Knowledge in Sensor/Data Fusion Systems....Pages 321-356
Group-Theoretic Approach to Motion Analysis for 3D Robotic Tracking....Pages 357-372
Multi-Sensor Integration for Robots Interacting with Autonomous Objects....Pages 373-394
Segmentation of Moving Objects....Pages 395-411
Apparent Motions in Three-Dimensional Images....Pages 413-432
Efficient Representation and High-Compression Coding of Image Sequences....Pages 433-447
A New Paradigm for Computational Stereo....Pages 449-463
Smoothing Range Data for Curvature Estimation....Pages 465-479
Residual Analysis for Range Image Segmentation and Classification....Pages 481-498
Using Curvature Information in the Decomposition and Representation of Planar Curves....Pages 499-525
Investigation into Building an Invariant Surface Model from Sparse Data....Pages 527-537
Form Features Recognition in a Multi-Level Representation Context....Pages 539-557
Orientation and Spatial Occupancy Representations in Shape Analysis....Pages 559-576
On Active Contour Models....Pages 577-597
Templates and the Hough Transform....Pages 599-613
Coefficient Focusing for the Moore-Penrose Associative Memory....Pages 615-634
Object detection in noisy images....Pages 635-650
Active Feature Localization....Pages 651-667
Haptic Perception with a Robot Hand: Requirements and Realization....Pages 669-683
Visual Techniques for the Controlled Movement of Docking....Pages 685-700
Towards the Development of a Multisensorial Vision System: An Adaptive Approach to the Low-Level Phase....Pages 701-719
Attributed Parallel Rewriting in Vision....Pages 721-741
Back Matter....Pages 743-756
....Pages 757-758