Technical Report CIS9616

TR#:CIS9616
Class:CIS
Title: Exploiting Redundancy of Purposive Modules in the Context of Active Vision
Authors: J.A. Fayman, P. Pirjanian, H.I. Christensen, E. Rivlin
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Abstract: It is becoming increasingly clear that the robustness demonstrated by biological vision systems is in large part due to their ability to actively integrate information from It is becoming increasingly clear that the robustness demonstrated by biological visionn systems is in large part due to their ability to actively integrate information from a number of similar or different visual models. Providing mechanical vision systems with capabilities similar to those possessed by biological systems therefore entails developing appropriate tools and techniques for effective module integration. In this paper, we address two issues. First, we present a unified approach for handling both redundancy and process composition which integrates a well known process composition model and a theoretical framework enabling a uniform description of teams of behaviors that are committed to achieving a specific goal through common effort. Our approach is implemented in a working system called the AV-shell which provides the ability to specify and implement concurrency and fusion of redundant multi-valued modules according to our approach. Secondly, we address the issue of redundancy in the active vision activity of smooth pursuit. We have experimented with the fusion of four techniques for implementing smooth pursuit such as template matching and image differencing. We discuss each technique focusing on strengths and weaknesses, then show that fusing the techniques according to our formal framwework improves tracking.
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