Pursuit control in a binocular active vision system using optical flow

Abstract

An active vision system must be able to perform reactive visual processes in real time. In this paper we discuss a number of issues related to the implementation of a real-time control architecture and describe the architecture we use with camera heads. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. Higher levels of autonomy and integration can be obtained by designing the control system architecture based on the concept of purposive behavior. At the lower levels we consider the vision as a sensor and integrate it in the control systems (both feedforward and servo loops); and several visual processes are implemented in parallel, computing relevant measures for the control process. At higher levels the architecture is modelled as a state transition system. Finally, we show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.