Active computer vision system

Abstract

We present a modular architecture for image understanding and active computer vision which consists of the following major components: sensor and actor interfaces required for data-driven active vision are encapsulated to hide machine-dependent parts; image segmentation is implemented in object-oriented programming as a hierarchy of image operator classes, guaranteeing simple and uniform interfaces. We apply this architecture to appearance-based object recognition. This is used for an autonomous mobile service robot which has to locate objects using visual sensors.