Abstract
The use of the vision in humans is a source of inspiration for many research works in robotics. Attention mechanisms has received much of this effort, however, aspects such as gaze control and modular composition of vision capabilities have been much less analyzed. This paper describes the architecture of an active vision system that has been conceived to ease the concurrent utilization of the system by several visual tasks. We describe in detail the functional architecture of the system and provide several solutions to the problem of sharing the visual attention when several visual tasks need to be interleaved. The system’s design hides this complexity to client processes that can be designed as if they were exclusive users of the visual system. Besides, software engineering principles for design and integration, often forgotten in this kind of developments, have been considered. Some preliminary results on a real robotic platform are also provided.
This work has been partially supported by Spanish Education Ministry and FEDER (project TIN2004-07087) and Canary Islands Government (project PI2003/160).
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Hernandez, D., Cabrera, J., Naranjo, A., Dominguez, A., Isern, J. (2007). Sharing Gaze Control in a Robotic System. In: Mira, J., Álvarez, J.R. (eds) Nature Inspired Problem-Solving Methods in Knowledge Engineering. IWINAC 2007. Lecture Notes in Computer Science, vol 4528. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73055-2_49
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DOI: https://doi.org/10.1007/978-3-540-73055-2_49
Publisher Name: Springer, Berlin, Heidelberg
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