Visual observation under uncertainty as a discrete event process

T. Sobh, R. Bajcsy
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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.<>
不确定条件下的视觉观察是一个离散事件过程
研究了运动主体的离散事件动态系统观测器的开发与实现问题。作者提出了一种视觉系统及其观察者的建模方法,其中“事件”被定义为参数子集上的范围。特别地,所提出的系统用于观察操作过程,其中机械手操作对象。随着时间的推移,手/物体的相互作用被识别出来,并构建了一个稳定的观察者。所得到的机械臂行为被构造为一个混合智能机构。这项工作仔细研究了操作系统、观察者构建过程和事件识别机制中出现错误、错误和不确定性的可能性。记录了一系列钉入孔作业的一些结果。
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