{"title":"Visual observation under uncertainty as a discrete event process","authors":"T. Sobh, R. Bajcsy","doi":"10.1109/ICPR.1992.201592","DOIUrl":null,"url":null,"abstract":"The problem of development and implementation of a discrete event dynamic system observer for a moving agent is considered. The authors present a modeling approach for the visual system and its observer, where the 'events' are defined as ranges on parameter subsets. In particular, the proposed system is used for observing a manipulation process, where a robot hand manipulates an object. the hand/object interaction is recognised over time and a stabilizing observer is constructed. The resulting robot arm behavior is constructed as a hybrid intelligent mechanism. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. Some results from a sequence of a peg-in-hole operation are documented.<<ETX>>","PeriodicalId":410961,"journal":{"name":"[1992] Proceedings. 11th IAPR International Conference on Pattern Recognition","volume":"47 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1992-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"[1992] Proceedings. 11th IAPR International Conference on Pattern Recognition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICPR.1992.201592","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
The problem of development and implementation of a discrete event dynamic system observer for a moving agent is considered. The authors present a modeling approach for the visual system and its observer, where the 'events' are defined as ranges on parameter subsets. In particular, the proposed system is used for observing a manipulation process, where a robot hand manipulates an object. the hand/object interaction is recognised over time and a stabilizing observer is constructed. The resulting robot arm behavior is constructed as a hybrid intelligent mechanism. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. Some results from a sequence of a peg-in-hole operation are documented.<>