tailieunhanh - Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 16

Tham khảo tài liệu 'dynamic vision for perception and control of motion - ernst d. dickmanns part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Experimental Results of Mission Performance 435 traction is suppressed during saccadic motion. In this case the saccade was performed rather slowly and lighting conditions were excellent so that almost no motion blur occurred in the image small shutter times and feature extraction could well have been done. The white curve at the left side of the road indicates that the internal model fits reality well. The sequence of saccades performed during the approach to the crossing can be seen from the sequence of graphs in Figure a and b The saccades are started at time 91 s at this time the crossroad hypothesis has been inserted in the scene tree by mission control expecting it from coarse navigation data object ID for the crossroad was 2358 subfigure e . At that time it had not yet been visually detected. Gaze control computed visibility ranges for the crossroad see graphs g and h in addition to those for the road driven graphs i and j lower right . Since these visibility ranges do not overlap saccades were started. Eleven saccades are made within 20s till time 111 . The saccade bit b signals to the rest of the system that all processes should not use images when it is 1 so they continue their operation based only on predictions with the dynamic models and the last best estimates of the state variables. Which objects receive attention can be seen from graph e bottom left Initially it is only the road driven the wide-angle cameras look in the near local object ID 2355 and the telecamera in the far range distant ID number 2356 . When the object crossroad is inserted into the scene tree ID number 2358 with unknown parameters width and angle but with default values to be iterated determination of their precise values and of the distance to the intersection is the goal of performing saccades. At around t 103 s the distance to the crossroad starts being published in the DOB graph f top right . During the period of performing saccades 91 - 111 the decision process .