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Proceedings Paper

Active vision system integrating fast and slow processes
Author(s): Modesto Castrillon-Santana; C. Guerra-Artal; J. Hernandez-Sosa; A. Dominguez-Brito; J. Isern-Gonzalez; Jorge Cabrera-Gamez; F. M. Hernandez-Tejera
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Paper Abstract

This paper describes an Active Vision System whose design assumes a distinction between fast or reactive and slow or background processes. Fast processes need to operate in cycles with critical timeouts that may affect system stability. While slow processes, though necessary, do not compromise system stability if its execution is delayed. Based on this simple taxonomy, a control architecture has been proposed and a prototype implemented that is able to track people in real-time with a robotic head while trying to identify the target. In this system, the tracking mobile is considered as the reactive part of the system while person identification is considered a background task. This demonstrator has been developed using a new generation DSP (TMS320C80) as a specialized coprocessor to deal with fast processes, and a commercial robotic head with a dedicated DSP-based motor controller. These subsystems are hosted by a standard Pentium-Pro PC running Windows NT where slow processes are executed. The flexibility achieved in the design phase and the preliminary results obtained so far seem to validate the approach followed to integrate time- critical and slow tasks on a heterogeneous hardware platform.

Paper Details

Date Published: 6 October 1998
PDF: 10 pages
Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325794
Show Author Affiliations
Modesto Castrillon-Santana, Univ. de Las Palmas de Gran Canaria (Spain)
C. Guerra-Artal, Univ. de Las Palmas de Gran Canaria (Spain)
J. Hernandez-Sosa, Univ. de Las Palmas de Gran Canaria (Spain)
A. Dominguez-Brito, Univ. de Las Palmas de Gran Canaria (Spain)
J. Isern-Gonzalez, Univ. de Las Palmas de Gran Canaria (Spain)
Jorge Cabrera-Gamez, Univ. de Las Palmas de Gran Canaria (Spain)
F. M. Hernandez-Tejera, Univ. de Las Palmas de Gran Canaria (Spain)


Published in SPIE Proceedings Vol. 3522:
Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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