Tham khảo tài liệu 'dynamic vision for perception and control of motion - ernst d. dickmanns part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Behavioral Capabilities for Locomotion 105 control in an active vision system. By extending these types of explicit representations to all processes for perception decision-making and mission planning as well as mission performance and monitoring a very flexible overall system will result. These aspects have been discussed here to motivate the need for both smooth parts of mission performance with nice continuity conditions alleviating perception and sudden changes in behavior where sticking to the previous mode would lead to failure or probably disaster . Efficient dynamic vision systems have to take advantage of continuity conditions as long as they prevail however they always have to watch out for discontinuities in motion both of the subject s body and of other object observed to be able to adjust readily. For example a vehicle following the rightmost lane on a road can be tracked efficiently using a simple motion model. However when an obstacle occurs suddenly in this lane for example a ball or an animal running onto the road there may be a harsh reaction to one side. At this moment a new motion phase begins and it cannot be expected that the filter tuning for optimal tracking remains the same. So the vision process for tracking similar to the bouncing ball example in Section has two distinctive phases which should be handled in parallel. Smooth Evolution of a Trajectory Continuity models and low-pass filtering components can help to easily track phases of a dynamic process in an environment without special events. Measurement values with high-frequency oscillations are considered due to noise which has to be eliminated in the interpretation process. The natural sciences and engineering have compiled a wealth of models for different domains. The methods described in this book have proven to be well suited for handling these cases on networks of roads. However in road traffic environments continuity is interrupted every now and then due to .
