Vision Planner for an Intelligent Multisensory

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 signiicant new features. First, it contains multiple sensors, object representations, image analysis and interpretation methods in order to solve a number of diierent vision tasks. Secondly, it comprises a vision planner. Upon a task-level vision request from the robot system, the vision planner transforms it into appropriate sequences of concrete vision operations, executes these operations, and if necessary, nds out alternative strategies. Experimental results demonstrate the clear advantage of this combination of multiple resources with the vision planner in solving typical vision problems for robotic tasks.