Tham khảo tài liệu 'vision systems - applications part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Behavior-Based Perception for Soccer Robots 71 modules and can be called independently. When an algorithm is called it takes a parameter indicating . the color of the object blue yellow and the size far near . Every cycle when the central image processing module is called it will call a set of image processing algorithms dependent on the behavior. In chapter 6 we will show the other advantages we found by making image processing completely modular. Drawbacks of behavior based vision There are limits and drawbacks to applying multiple sense-think-act loops to the vision system of robots. The first thing to consider is that the use of location information in the image processing and self localization for discarding unexpected objects gives rise to the chance of entering a local loop when the robot would discard information based on a wrong assumption of its own position it could happen the robot would not be able to retrieve its correct position. For avoiding local loops periodic checking mechanisms on the own position are required on a lower pace . Also one could restrict the runtime of behaviors in which much information is discarded and invoke some relocation behavior to be executed periodically. The second drawback is that due to less reusability and more implementations of optimized code the overall size of the system will grow. This influences the time it will take to port code to a new robot or to build new robot-software from scratch. The third drawback is that for every improvement of the system for every sense-think-act loop some knowledge is needed of the principles of image processing mechanical engineering control theory AI and software engineering. Because of this behaviordesigners will probably reluctant to use the behavior-specific vision system. Note however that even if behavior designer are not using behavior-dependent vision the vision system can still be implemented. In worst case a behavior designer can choose to select the general .
