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AV-Shell, an Environment for Autonomous Robotic Applications Using Active Vision

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Abstract

In this paper, we present a system called the Active Vision Shell (AV-shell) which provides a programming framework for expressing and implementing autonomous robotic tasks using perception and action where perception is provided by active vision. The AV-shell is a system with a powerful interactive C-shell style interface providing many important capabilities including: (1) architectural support; (2) an abstract interface enabling interaction with a wide variety of devices; (3) a rich set of visual routines; and (4) a process composition framework. The utility of the AV-shell is demonstrated in several examples showing the relevance of the AV-shell to meaningful applications in autonomous robotics.

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Authors and Affiliations

  1. Department of Computer Science, Israel Institute of Technology--Technion, Haifa, Israel. jefff@virtue3d.com

    Jeffrey A. Fayman & Ehud Rivlin

  2. Centre for Autonomous Systems, Numerical Analysis and Computing Science, Royal Institute of Technology, S-100 44, Stockholm, Sweeden

    Henrik I. Christensen

Authors
  1. Jeffrey A. Fayman
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  2. Ehud Rivlin
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  3. Henrik I. Christensen
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Fayman, J.A., Rivlin, E. & Christensen, H.I. AV-Shell, an Environment for Autonomous Robotic Applications Using Active Vision. Autonomous Robots 6, 21–38 (1999). https://doi.org/10.1023/A:1008868408574

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