Exploration And Search With Intentional Visual Actions

Deborah Strahman

doi:10.1117/12.960288

27 March 1989 Exploration And Search With Intentional Visual Actions

Deborah Strahman

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960288
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Active vision is a term used to denote the control of the camera's geometric parameters to aid in the satisfaction of perceptual goals. Here it is combined with intentional visual actions generated by task oriented decisions. The focus of this paper is the use of intentional active vision to perform exploration and spatial search. These are common components of many perceptual tasks in which the viewer is dealing with a space and objects within that space that are at most partially known or modeled. Examples of such tasks are determining the location of the product code of unknown part on an assembly line, finding an exit sign in an known building, or a lost tool in a cluttered workspace. As proposed here, exploration is a reactive process which has strategies, composed of visual actions and predictions, for dealing with the various spatial situations encountered. To recognize the current situation temporary models of the locally visible surfaces are built. These enable the spatial reasoning for construction of the strategies. Though these surfaces are disposed of when no longer local, a coarse spatial memory avoids duplication of effort and aids in deciding when the task is complete. The visual actions are intended motions for which viewing direction and possibly other camera parameters are controlled.

Citation Download Citation

Deborah Strahman "Exploration And Search With Intentional Visual Actions", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960288

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