Project: Controlled Active Vision
Closing the Loop Using Visual Sensors.
Controlled active vision is the use of a vision sensor for the
provision of state information that is used in the feedback loop.
Unlike traditional sensors such as rate gyros, compasses,
accelerometers, etc. a visual sensor requires additional processing of
the sensor data to actually provide the necessary state information
for feedback. The algorithm used to extract the state information can
play an important role with regards to stability of the closed-loop
system or can be affected by the control actuation computed from the
state feedback. The research here studies the role of the visual
sensor in the feedback loop and identifies ways to improve the
stability of the closed-loop system or to ensure robustness of the
visual processing algorithm to any disturbances that are induced by
the feedback control law or to performance variation induced by the
This research was supported in part by the National Science Foundation
Any opinions, findings, and conclusions or recommendations expressed in
this material are those of the author(s) and do not necessarily reflect
the views of the National Science Foundation.