Reliable goal-directed reactive control of autonomous mobile robots
Reliable goal-directed reactive control of autonomous mobile robots
Computer facial animation
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
Face Detection From Color Images Using a Fuzzy Pattern Matching Method
IEEE Transactions on Pattern Analysis and Machine Intelligence
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
Hierarchical B-spline refinement
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
OpenGL Programming Guide: The Official Guide to Learning OpenGL, Release 1
OpenGL Programming Guide: The Official Guide to Learning OpenGL, Release 1
Digital Signal Processing: A Practical Approach
Digital Signal Processing: A Practical Approach
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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, and must accommodate other processes such as speech recognition, animated face displays, communication with other robots, navigation and control. For our entries in the 2000 American Association for Artificial Intelligence robot contest, we developed a vision module capable of providing real-time information about ten or more operators while maintaining at least a 20Hz frame rate and leaving sufficient processor time for the robot's other capabilities. The vision module uses a probabilistic scheduling algorithm to ensure both timely information flow and a fast frame capture. 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 confidence measure and a time stamp. Because of this design, our robots are able to react in a timely manner to a wide variety of visual events.