Saturation in active vision systems and its effects on tracking performance

Ulf M. Cahn von Seelen; Ruzena K. Bajcsy

doi:10.1117/12.325793

6 October 1998 Saturation in active vision systems and its effects on tracking performance

Ulf M. Cahn von Seelen, Ruzena K. Bajcsy

Proceedings Volume 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision; (1998) https://doi.org/10.1117/12.325793
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

Linear models are a popular tool to characterize the performance of active vision systems. They cannot, however, capture the nonlinear limits of the system performance that arise out of the physical limitations of the real system. We examine how the finite field of view and the limited motor torque impose bounds on the linear operation of an active vision system in a fixation task. We derive the bounds by analyzing a real active vision system and measuring its response to repeatable and controllable target motions generated by a robot arm. The knowledge of the operational bounds can guide us in deciding which aspects of the active vision system to improve for better overall performance.

Citation Download Citation

Ulf M. Cahn von Seelen and Ruzena K. Bajcsy "Saturation in active vision systems and its effects on tracking performance", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); https://doi.org/10.1117/12.325793

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KEYWORDS

Active vision

Cameras

Visualization

Head

Imaging systems

Visual process modeling

Complex systems

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