Page 9 - Dynamic Vision for Perception and Control of Motion

x Contents

2.2.3 Mobile Objects in General ........................................................... 44

2.2.4 Shape and Feature Description..................................................... 45
2.2.5 Representation of Motion............................................................. 49
2.3 Points of Discontinuity in Time................................................................ 53
2.3.1 Smooth Evolution of a Trajectory................................................ 53
2.3.2 Sudden Changes and Discontinuities ........................................... 54
2.4 Spatiotemporal Embedding and First-order Approximations................... 54

2.4.1 Gain by Multiple Images in Space and/or Time for
Model Fitting................................................................................ 56
2.4.2 Role of Jacobian Matrix in the 4-D Approach to Vision.............. 57

3 Subjects and Subject Classes....................................... 59

3.1 General Introduction: Perception – Action Cycles.................................. 60
3.2 A Framework for Capabilities................................................................. 60
3.3 Perceptual Capabilities ........................................................................... 63

3.3.1 Sensors for Ground Vehicle Guidance......................................... 64
3.3.2 Vision for Ground Vehicles ......................................................... 65
3.3.3 Knowledge Base for Perception Including Vision ..................... 72
3.4 Behavioral Capabilities for Locomotion ................................................. 72
3.4.1 The General Model: Control Degrees of Freedom....................... 73

3.4.2 Control Variables for Ground Vehicles........................................ 75
3.4.3 Basic Modes of Control Defining Skills ...................................... 84
3.4.4 Dual Representation Scheme ....................................................... 88
3.4.5 Dynamic Effects in Road Vehicle Guidance................................ 90
3.4.6 Phases of Smooth Evolution and Sudden Changes.................... 104
3.5 Situation Assessment and Decision-Making ......................................... 107

3.6 Growth Potential of the Concept, Outlook ............................................ 107
3.6.1 Simple Model of Human Body as a Traffic Participant............. 108
3.6.2 Ground Animals and Birds......................................................... 110