MTVS: A Multi-task Active-Vision System

摘要

This paper describes the architecture of an active-vision system that has been conceived to ease the concurrent utilization of a visual sensor by several tasks on a mobile robot. We describe in detail the functional architecture of the system and provide several solutions to the problem of sharing the visual attention among multiple visual tasks. The system's design hides this complexity to client processes that can be designed as if they were exclusive users of the visual system. The results obtained in experiments with real mobile robots are also presented.