Autonomous Observation Under Uncertainty
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Authors
Sobh, Tarek M.
Bajcsy, Ruzena
Issue Date
1992-05-01
Type
Article
Language
Keywords
Engineering
Alternative Title
Abstract
We address the problem of observing a moving agent. We advocate a modeling approach for the visual system and its observer, where a discrete event dynamic system (DEDS) frame work is developed and "events" are defined as ranges on parameter subsets. In particular, we propose a system 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. Low-level modules are developed for recognizing the events that causes state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. The system utilizes different tracking techniques in order to observe and recognize the task in an active, adaptive and goal-directed manner.
Description
Citation
Publisher
IEEE