A mobile robot with a biologically motivated vision system

Abstract

Studies on the vertebrate visual system provide us with many clues about thepowerful mechanisms of natural vision. Physiological and psychological studies haverevealed that human visual system, besides being massively parallel, also employs selectiveperception. In this thesis, we develop and present the preliminary performanceresults of an active vision system motivated by these findings. The mechanical hardwareimplemented to support visual processing is a simple mobile robot called APES.Design specifications and the vision system of APES are described in detail, with experimentaldemonstrations. Successful results are obtained for real time performanceon a simple recognition task.