A control architecture for active vision systems enabling real time operation

An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. Therefore the control architecture is extremely important. In this paper we discuss a number of issues related with the implementation of a real-time control architecture and describe the architecture we are using with our "binocular heads". Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. Finally we describe a system where the integration of an active vision stereo head in a mobile robot has been performed, with real-time performance.