Using the composite surface model for perceptual tasks

A Composite Surface Model is a structure in which streams of information from diverse sensory sources are integrated into a unified model of the immediate environment. The composite surface model then serves as the basis for planning and executing actions, for learning about objects, and for interpreting the world in terms of known objects. This paper reviews current progress in developing a composite surface model using geometric information. Principles for composite modeling are described, and the role of the composite model in a task oriented robotic system is presented. A set of geometric primitives for surfaces patches, contours and vertices are then defined. A family of interface functions are presented which permit the composite surface model to be used by other processes within a task-oriented robotic system. The use of these interface functions is illustrated by a procedure for the task of finding an object.