Real-Time Active Vision with Fault Tolerance - Pattern Recognition, 1996., Proceedings of the 13th International Conference on
نویسندگان
چکیده
The active vision paradigm couples perception and action at several different levels. The effective use of active vision in complex robotic tasks requires that these levels operate both independently and cooperatively, reliably and in real-time. In this paper; we present a system for real-time active vision with fault tolerance. The system provides a vocabulary of active vision routines along with the means for composing the routines into continuously running perception-action processes. A novel architecture which enables the integration of the perceptive capabilities of real-time active vision with the active capabilities of other robotic devices is presented. We then enhance the architecture with a unified approach to fault tolerance and present results from experiments and simulations. specified timing constraints. Missing a deadline in a such a system can lead to high-cost consequences, for example when autonomous robots handle radio-active materials or when human life is involved. Therefore, services offered must be available and provide guarantees despite the occurrence of faults vault tolerance). In particular. for real-time systems, fault tolerance techniques must guarantee that timing constraints are met, in addition to functional correctness. In this paper we present a system which provides a powerful interface to AVD's (section 3), and a distributedreal-time architecture for perception and action tasks with several levels of fault-tolerance (section 4). We present a complex task which uses active vision for object capture and show how the system can provide solutions both for the tasks real-time requirements and fault tolerance (section 5 ) . In section 6 our tests and results are shown. 2 Related Work
منابع مشابه
Visual Input for Pen-Based Computers - Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Handwriting may be captured using a video camera: rather than the customary pressure-sensitive tablet. This paper presents a simple system based on correlation and recursive prediction methods that can track the tip of the pen in real time with SUBcient spatio-temporal resolution and accuracy to enable handwritten character recognition. The system is tested on a large and heterogeneous set of e...
متن کاملTexture Classification Using N-Tuple Pattern Recognition - Pattern Recognition, 1996., Proceedings of the 13th International Conference on
This paper presents a novel approach to real-time texture classification, derived from the n-tuple method of Bledsoe & Browning, for use in industrial applications. In recent years, various approaches have been presented for the texture classifcation problem. However, few have the computational tractability needed in an automated environment. In this paper, methods for texture classijkation bas...
متن کاملParallel Architecture Dedicated to Connected Component Analysis - Pattern Recognition, 1996., Proceedings of the 13th International Conference on
This work presents the design of a dedicated parallel architecture for connected component analysis. Categorized in one-dimensional array processors, for an image of nxn pixels, the proposed architecture has n-1 linear PE's, n2 CAM memory modules, and a tree structure of (&)-I switches allowing communication through the global bus in O(1og n) unit of propagation time. Well suited for low and in...
متن کاملProceedings of the 6th International Conference on Science and Social Research (CSSR)(Malaysia)
متن کامل
Providing fault tolerance for active vision systems in real-time
The purpose of this paper is twofold: we first present a novel architecture for real-time active vision systems, and then enhance the architecture with a un$ed approach to fault tolerance. Our system is designed modularly in order to enable the flexible addition of hardware and sojiware redundancy and also to allow reconfiguration when and where needed. This gives us the ability to handle fault...
متن کامل