A system for active vision driven robotics

Abstract

In this paper, we present an agent architecture/active vision research tool called the Active Vision Shell (AV-shell). The AV-shell can be viewed as a programming framework for expressing perception and action routines in the context of situated robotics. The AV-shelf is a powerful interactive C-shell style interface providing many capabilities important in an agent architecture such as the ability to combine perceptive capabilities of active vision with capabilities provided by other robotic devices, the ability to interact with a wide variety of active vision devices, a set of image routines and the ability to compose the routines into continuously running perception action processes. Finally, we present an application example of AV-shell.