Active vision system integrating fast and slow processes

Modesto Castrillon-Santana; C. Guerra-Artal; J. Hernandez-Sosa; A. Dominguez-Brito; J. Isern-Gonzalez; Jorge Cabrera-Gamez; F. M. Hernandez-Tejera

doi:10.1117/12.325794

6 October 1998 Active vision system integrating fast and slow processes

Modesto Castrillon-Santana, C. Guerra-Artal, J. Hernandez-Sosa, A. Dominguez-Brito, J. Isern-Gonzalez, Jorge Cabrera-Gamez, F. M. Hernandez-Tejera

Author Affiliations +

Proceedings Volume 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision; (1998) https://doi.org/10.1117/12.325794
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper describes an Active Vision System whose design assumes a distinction between fast or reactive and slow or background processes. Fast processes need to operate in cycles with critical timeouts that may affect system stability. While slow processes, though necessary, do not compromise system stability if its execution is delayed. Based on this simple taxonomy, a control architecture has been proposed and a prototype implemented that is able to track people in real-time with a robotic head while trying to identify the target. In this system, the tracking mobile is considered as the reactive part of the system while person identification is considered a background task. This demonstrator has been developed using a new generation DSP (TMS320C80) as a specialized coprocessor to deal with fast processes, and a commercial robotic head with a dedicated DSP-based motor controller. These subsystems are hosted by a standard Pentium-Pro PC running Windows NT where slow processes are executed. The flexibility achieved in the design phase and the preliminary results obtained so far seem to validate the approach followed to integrate time- critical and slow tasks on a heterogeneous hardware platform.

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Modesto Castrillon-Santana, C. Guerra-Artal, J. Hernandez-Sosa, A. Dominguez-Brito, J. Isern-Gonzalez, Jorge Cabrera-Gamez, and F. M. Hernandez-Tejera "Active vision system integrating fast and slow processes", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); https://doi.org/10.1117/12.325794

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