Visual Observation Under Uncertainty As A Discrete Event Process
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Authors
Sobh, Tarek M.
Bajcsy, Ruzena
Issue Date
1992-08
Type
Article
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Abstract
Description
We address the problem of development and implementation of a discrete event dynamic system (DEDS) observer for a moving agent. We advocate a modeling approach for the visual system and its observer, where the "events" are defined as ranges on parameter subsets. In particular, the proposed system is used for observing a manipulation process, where a robot hand manipulates an object. We recognize the hand/object interaction over time and a stabilizing observer is constructed. The resulting robot arm behavior is constructed as a hybrid intelligent mechanism. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. Some results from a sequence of a peg-in-hole operation are documented.