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For robust and safe cross country driving, an autonomous ground vehicle must be able to handle conflicts, which may arise from limitations of perception performance, of the dynamics of the vehicle's active camera head and from the feasibility of locomotion maneuvers. This paper describes the interaction and coordination of image processing, gaze control and behavior decision. The behavior decision module specifies the perception tasks for the image processing experts according to the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. Depending on its perception task received, an image processing expert specifies combinations of so-called regions of attention (RoA) for each object in 3D object coordinates. These RoA cover relevant object parts and should be visible with a resolution and in a manner as required by the measurement techniques applied. The gaze control unit analyzes the combinations of RoA of all image processing experts in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. This dynamic interaction has been demonstrated in different complex and scalable autonomous missions with the UBM test vehicle VAMORS. The mission described in this paper makes the vehicle meet an unexpected ditch of unknown size and position forcing the vehicle to reactive behavior regarding locomotion, gaze control as well as image processing. |
