Situated Vision in a Dynamic World: Chasing Objects

We describe a system that approaches and follows arbitrary moving objects in real time using vision as its only sense. -The system uses multiplesimple vision computations which, although individually nnrelinhle rnmnlement enrh nther in R rnsannpr -A. Av-a-‘ -l, --“Lr’“‘-*-“’ uuI*L. ,“AhuA *-. - *Asu&A*. w* mediated by a situated control network. The objects can move over a wide variety of backgrounds including those with strong secondary reflections from light sources. Previously unseen objects can be tracked against backgrounds that include other moving objects. Computations are carried out in image coordinates at roughly 5 frames per second on a Lisp machine. The camera need not be calibrated or aligned di, and the system can tolerate a wide range of dynamically changing actuator response characteristics.

Authors

• Ian Douglas Horswill Rodney Allen Brooks

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