Accession Number:
ADA439278
Title:
On Viewpoint Control
Descriptive Note:
Corporate Author:
MASSACHUSETTS UNIV AMHERST DEPT OF COMPUTER SCIENCE
Personal Author(s):
Report Date:
2005-01-01
Pagination or Media Count:
7.0
Abstract:
In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed onto three control objectives namely, obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using a new subject-to composition operator. It is shown that the system is stable under this composition. The system is demonstrated for tracking a human subject using a fixed panoramic sensor and another panoramic sensor mounted on a mobile platform.
Descriptors:
Subject Categories:
- Cybernetics
- Operations Research