In this paper we describe the integration of vision information obtained by a fixed camera and the information obtained by a binocular active vision system. Both systems acquire images from the same environment. The information redundancy is exploited to achieve a higher degree of robustness in detecting and tracking intruders. Global information about intruders is obtained by the fixed vision ...

In this paper we report on our ongoing research on wearable active vision, where we have iteratively prototyped a Wearable Visual Robot — a body mounted robot for which the main sensor is a camera. Two main areas have been studied: robot design and visual algorithms. In the design stage, we have analysed sensor placement through the computation of the field of view and body motion using a 3D mo...

We present a biologically inspired active vision system that incorporates two modes of perception. A peripheral mode provides a broad and coarse perception of where mass is in the scene in the vicinity of the current fixation point, and how that mass is moving. It involves fusion of actively acquired depth data into a 3D occupancy grid. A foveal mode then ensures coordinated stereo fixation upo...

Earlier13,18,19, the biologically plausible active vision ,model for Multiresolutional Attentional Representation and Recognition (MARR) has been developed. The model is based on the scanpath theory of Noton and Stark17and provides invariant recognition of gray-level images. In the present paper, the algorithm of automatic image viewing trajectory formation in the MARR model, the results of psy...

This paper proposes a computational distributed model for active vision. In the proposed model, action selection and visual processes progressively unfold in a parallel and asynchronous way through a set of cross-modulatory signals. The visual process is modelled with a swarm of perceptual agents inhabiting the physical agent’s sensorimotor space, motivated by the ant foraging metaphor. Percept...

Visual perception results from the interaction of incoming sensory signals and top down cognitive and motor signals. Here we focus on the representation of attended locations in parietal cortex and in earlier visual cortical areas. We review evidence that these spatial representations are modulated not only by selective attention but also by the intention to move the eyes. We describe recent ex...

As the field of Computational Vision matures, more efforts are devoted to vision systems that are active and need to interact with their envi­ ronment in real time. A prerequisite for inte­ grating Vision and Action is the development of a set of representations of the visual system's space-time, where space includes the system itself. Thus we are faced with the problem of studying the nature o...

We have developed a visual system which adapts for varying illumination. The system has three features. First, the intenaity of the image is kept constant by automatically adjusting the iris value which i s a camera parameter. Semnd, t.lw gray levels of itn image portion or the user's interest are averaged on the assumptiorl illat localized illumination changes uniformly, and the difference bet...

Visual navigation is a challenging issue in automated robot control. In many robot applications, like object manipulation in hazardous environments or autonomous locomotion, it is necessary to automatically detect and avoid obstacles while planning a safe trajectory. In this context the detection of corridors of free space along the robot trajectory is a very important capability which requires...