Autonomous observation under uncertainty

The authors address the problem of observing a moving agent. They advocate a modeling approach for the visual system and its observer, where a discrete event dynamic system framework is developed and events are defined as ranges on parameter subsets. A system for observing a manipulation process in which a robot hand manipulates an object is proposed. The hand/object interaction is recognized over time, and a stabilizing observer is constructed. Low-level modules are developed for recognizing the events that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes, and uncertainties in the manipulation system, observer construction process, and even identification mechanisms. The system utilized different tracking techniques to observe and recognize the task in an active and goal-directed manner