Robust Feature Tracking by Coordinating Heterogeneous Visual Processing Agents

We have proposed a robust visual feature tracking method that combines static feature extracting agents and feature tracking agents [3]. This method can robustly track rotating features, which has been difficult with only a correlation-based tracking method (Figure 1).

Figure 1: Multi-agent based feature tracking

Multiagent-based Peg-in-hole

Figure 2: Multi-agent based peg insertion task

1. Mori, A., Hiramatsu, K., Naya, F. and Osato, N.: A Robot-Controlling Agent Description with Finite State Machines, IEEE 4th International Symposium on Distributed Autonomous Robotic Systems (DARS'98), May 1998.
2. Mori, A., Hiramatsu, K., Naya, F. and Osato, N.: A Robot-Controlling Agent Description with Finite State Machines (in Japanese), Proc. 55th Annual Convention IPS Japan, Vol.2, pp. 434--435 (1997).
3. Naya, F., Hiramatsu, K., Mori, A. and Osato, N.: Active Tracking based on Cooperation of Heterogeneous Visual Processing Agents (in Japanese), Proc. 55th Annual Convention IPS Japan, Vol.2, pp. 136--137 (1997).

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