Vision planner for an intelligent multisensory vision system

摘要

Abstract: In this paper we present a multisensory vision system that is intended to support the vision requirements of an intelligent robot system. Contrary to many other vision systems, our system has two significant new features. First, it contains multiple sensors, object representations, and image analysis and interpretation methods in order to solve a number of different vision tasks. Secondly, it comprises a vision planner. Upon a task-level vision request from the robot system, the vision planner transforms it into an appropriate sequence of concrete vision operations, executes these operations, and if necessary, finds out alternative sequences of operations. Experimental results demonstrate the clear advantage of this combination of multiple resources with the vision planner in solving typical vision problems for robotic tasks. !17