Performance evaluation of an active vision system.

Format:

Book

Thesis/Dissertation

Author/Creator:

Cahn von Seelen, Ulf Manfred.

Contributor:

University of Pennsylvania.

Language:

English

Subjects (All):

Computer science.

0984.

Local Subjects:

0984.

Physical Description:

105 pages

Contained In:

Dissertation Abstracts International 58-03B.

System Details:

Mode of access: World Wide Web.

text file

Summary:

The design of active vision systems requires the integration of action and perception components and therefore involves a range of disciplines, including computer vision, control theory, and mechatronics. Assessments of the performance of the resulting system are needed at all stages of the development.

This dissertation addresses the problem of finding both measures and means for evaluating the performance of an active vision system in a systematic and quantitative way. In particular, we examine the performance of a camera pan axis in a monocular fixation task.

The work combines model-based analysis with experiments on a real active vision system. We start by constructing models for all components of the system and match the models with the actual hardware through calibration or system identification.

For the performance evaluation experiments we built a testbed consisting of two robot manipulators that generate controllable and repeatable target motions. Several factors have been identified that influence the geometry and accuracy of the target motion and its mapping onto the image plane.

The first set of experiments tests the linear properties of the active vision system. The experiments measure the frequency response of the system, which is used to identify a linear model of the active vision system.

The main problem of linear characterizations of performance is that they cannot model the loss of the target. The second set of experiments explores some of the conditions under which the linear model fails and the system loses the target from its field of view. The knowledge of these performance limits can be used to increase the range of operation of the active vision system by adapting the operating parameters dynamically to the motion characteristics of the target.

Notes:

Source: Dissertation Abstracts International, Volume: 58-03, Section: B, page: 1362.

Supervisor: Ruzena Bajcsy.

Thesis (Ph.D.)--University of Pennsylvania, 1997.

Local Notes:

School code: 0175.

ISBN:

9780591363357

Access Restriction:

Restricted for use by site license.