Visual Perception Processing in a Hierarchical Control System: Level 1

摘要

The document describes the interfaces and functionality of the first level of the visual perception branch of a real time hierarchical manipulator control system. It includes a description of the scope of the processing performed and the outputs generated. It defines the interfaces and the information exchanged between the modules at this level, as well as interfaces to a camera, a human operator, and to higher levels of the system.