The Xt-1 Vision Architecture
نویسندگان
چکیده
A mobile robot navigating in an unstructured environment faces many difficult problems for which vision may potentially offer useful solutions. The XT-1 (eXpectation based Template matching) architecture was developed in an attempt to address many of these problems with similar constructions. The current system handles such diverse problems as landmark and place recognition, the generation of orienting and anticipatory saccades, smooth pursuit, as well as visual servoing during locomotion.
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Visual Tracking and Target Selection for Mobile Robots
This paper describes how tracking and target selection are used in two behavior systems of the XT-1 vision architecture for mobile robots. The first system is concerned with active tracking of moving targets and the second is used for visually controlled spatial navigation. We overview the XT-1 architecture and describe the role of expectation-based template matching for both target tracking an...
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