Visual Perception

• Multi-agent, task dependent, robust, visual perception system

• Detector agents

  • HSI, stereo, texture, motion.

• Specialist agents

  • Color, floor plane.

• Evaluator agents for robustness

  • False alarms, misdetections.

• Bayesian Networks

  • adaptability

• Applications:

  • Mapping, safe-wandering

Stereo

Prob(+ /O)

Distance (mts.)

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