FOVEAL MACHINE VISION FOR MOBILE ROBOTS USING AGENT-BASED GAZE CONTROL

Award Information
Agency: National Science Foundation
Branch: N/A
Contract: N/A
Agency Tracking Number: 27445
Amount: $64,996.00
Phase: Phase I
Program: SBIR
Awards Year: 1994
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
30 Wilson Rd, Buffalo, NY, 14221
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Cesar Bandera
 (716) 631-0610
Business Contact
Phone: () -
Research Institution
N/A
Abstract
AN ATTENTION MECHANISM CAN INFLUENCE SYSTEM BEHAVIOR AND PERFORMANCE ONLY TO THE EXTENT IN WHICH SYSTEM RESOURCES ARE ALLOCATABLE. A KEY ROBOT VISUAL SYSTEM RESOURCE IS ACUITY, AND YET THIS IS FIXED IN CONVENTIONAL UNIFORM ACUITY MACHINE VISION; REGIONS WITH LITTLE OR NO RELEVANCE TO THE ROBOT'S MISSION ARE SAMPLED AT THE SAME RESOLUTION AS KEY FEATURES, OCCUPYING VALUABLE SIGNAL BANDWIDTH AND COMPUTATIONAL RESOURCES, AND INCREASING SYSTEM LATENCIES. FOVEAL ACTIVE VISION FEATURES IMAGING SENSORS AND SIGNAL PROCESSING WITH GRADED ACUITY, AND CONTEXT SENSITIVE SENSOR GAZE CONTROL, ANALOGOUS TO THAT PREVALENT THROUGHOUT VERTEBRATE VISION. FOVEAL SYSTEMS OPERATE MORE EFFICIENTLY BECAUSE RESOLUTION IS TREATED AS A DYNAMICALLY ALLOCATABLE RESOURCE. WIDE FIELD-OF-VIEW, LOCALIZED HIGH ACUITY, AND FAST FRAME RATES ARE ACHIEVED WHILE MINIMIZING IRRELEVANT SENSOR DATA. THE MATURATION OF FOVEAL TECHNOLOGY IS HAMPERED BY THE NEED FOR FAST AND INTELLIGENT GAZE CONTROL. THIS PROJECT PROTOTYPES A MOBILE ROBOT FOVEAL VISION SYSTEM WHICH RELIES ON AN AGENT-BASED, GROUNDED, LAYERED ARCHITECTURE WITH INTEGRATED REASONING FOR GAZE CONTROL. THIS ARCHITECTURE FACILITATES THE DEVELOPMENT OF SUCCESSFUL ACTIVE VISION BEHAVIORS (SENSOR POINTING AND PLATFORM MOTION). LEARNING TECHNIQUES WHICH ACCELERATE ATTENTIVE ACTIVE VISION BEHAVIORS BY EVOLVING THEM INTO PREATTENTIVE RESPONSES ARE BEING INVESTIGATED.

* Information listed above is at the time of submission. *

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government