A real-time vision module for interactive perceptual agents |
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Authors: | Bruce A. Maxwell Nathaniel Fairfield Nikolas Johnson Pukar Malla Paul Dickson Suor Kim Stephanie Wojtkowski Thomas Stepleton |
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Affiliation: | (1) Swarthmore College, 500 College Ave., Swarthmore, PA 19081, USA; e-mail: maxwell@swarthmore.edu , US |
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Abstract: | Abstract. Interactive robotics demands real-time visual information about the environment. Real-time vision processing, however, places a heavy load on the robot's limited resources, which must accommodate multiple other processes running simultaneously. This paper describes a vision module capable of providing real-time information from ten or more operators while maintaining at least a 20-Hz frame rate and leaving sufficient processor time for a robot's other capabilities. The vision module uses a probabilistic scheduling algorithm to ensure both timely information flow and a fast frame capture. In addition, it tightly integrates the vision operators with control of a pan-tilt-zoom camera. The vision module makes its information available to other modules in the robot architecture through a shared memory structure. The information provided by the vision module includes the operator information along with a time stamp indicating information relevance. Because of this design, our robots are able to react in a timely manner to a wide variety of visual events. |
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Keywords: | : Real-time vision – Robotics – Optical character recognition – Face detection |
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