. Les-autres-processeurs, P2 et P3) exécutent, quantàquantà eux, la séquence suivante : 1. réception d'un paquet de données (X1, X2 ou X3), 2. traitement local du paquet par la fonction Compute, 3. envoi du résultat obtenu (Y1, Y2 ou Y3) vers le processeur " ma??trema??tre " . 1. l'espace de contrôle

. Dans-cette-classification, deux approches ont fait l'objet d'importants développements : 1. l'asservissement en situation (3D) : ` a partir de primitives extraites de l'image et via un modèle de la cible, on détermine la position et l'orientation de celle-ci par rapportàrapportà la Annexe C : Notions de robotique

A. C. Bibliographie1-]-sanderson and L. E. Weiss, Image-based visual servo control using relational graph error signals, Proceedings IEEE International Conference on Robotics and Automation, pp.1074-1077, 1980.

B. Adelson, The plenoptic function and the elements of early vision. Computational Models of Visual Processing, pp.1-20, 1991.

Y. Adini, Y. Moses, and S. Ullman, Face recognition: the problem of compensating for changes in illumination direction, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.19, issue.7, pp.721-732, 1997.
DOI : 10.1109/34.598229

P. Allen, B. Yoshimi, and A. Timcenko, Real-time visual servoing, Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1990.
DOI : 10.1109/ROBOT.1991.131694

A. P. Pentland, Local Shading Analysis, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.6, issue.2, pp.170-187, 1984.
DOI : 10.1109/TPAMI.1984.4767501

. Arulampalam, . Maskell, and C. Gordon, A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking, IEEE Transactions on Signal Processing, vol.50, issue.2, pp.174-188, 2002.
DOI : 10.1109/78.978374

S. Basu and A. Pentland, A three-dimensional model of human lip motions trained from video, Proceedings IEEE Nonrigid and Articulated Motion Workshop, 1999.
DOI : 10.1109/NAMW.1997.609851

M. Ben-ezra, S. Peleg, and M. Werman, Real-Time Motion Analysis with Linear Programming, Computer Vision and Image Understanding, vol.78, issue.1, pp.32-52, 2000.
DOI : 10.1006/cviu.1999.0826

F. Berry, Contournement d'objet par asservissement visuel, Thèse de doctoratàdoctoratà l'Ecole Doctorale Sciences pour l'Ingénieur de Clermont-Ferrand, 1999.

F. Berry, P. Martinet, and J. Gallice, Trajectory generation by visual servoing, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, pp.1066-1072, 1997.
DOI : 10.1109/IROS.1997.655142
URL : https://hal.archives-ouvertes.fr/hal-00094961

B. Bhanu and W. Burger, Qualitative understanding of scene dynamics for moving robots, In the Int. J. Robotics Research, vol.9, pp.74-90, 1990.

B. K. Horn, Understanding image intensities, Artificial Intelligence, vol.8, issue.2, pp.201-231, 1977.
DOI : 10.1016/0004-3702(77)90020-0

J. Michael, A. D. Black, and . Jepson, Eigentracking : Robust matching and tracking of articulated objects using a view-based representation, International Journal of Computer Vision, vol.26, issue.1, pp.63-84, 1998.

A. Blake, R. Curwen, and A. Zisserman, A framework for spatiotemporal control in the tracking of visual contours, International Journal of Computer Vision, vol.8, issue.2, pp.127-145, 1993.
DOI : 10.1007/BF01469225

M. Bober and J. Kittler, A Hough Transform based Hierarchical Algorithm for Motion Segmentation and Estimation, Intl Workshop on Time -Varying Image Processing and Moving Object Recognition, pp.335-342, 1993.
DOI : 10.1016/B978-0-444-81467-8.50045-4

F. Bérard, Vision par ordinateur pour l'interaction homme-machine fortement couplé, 1999.

R. Brunelli and T. Poggio, Template matching : Matched spatial filter and beyond. A.I. Memo 1549, M.I.T, 1995.

F. Chaumette, La relation vision-commande : théorie et applicationàapplication`applicationà des tâches robotiques, Thèse de doctorat de l'Institut de Formation Supérieure en Informatique et Communication de Rennes, 1990.

H. Chen, P. Belhumeur, and D. Jacobs, In search of illumination invariants, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662), pp.254-261, 2000.
DOI : 10.1109/CVPR.2000.855827

S. Chien and S. Sung, Adaptive window method with sizing vectors for reliable correlation-based target tracking, Pattern Recognition, vol.33, issue.2, pp.237-249, 2000.
DOI : 10.1016/S0031-3203(99)00056-4

J. Chung and N. Ohinishi, Self-organizing reaching opération in a simulated robot via interaction of binocular and arm movements, IEEE/RSJ International Conference on Intelligent Robot and Systems, pp.37-42, 1997.

M. Cole, Algorithmic Skeletons, 1989.
DOI : 10.1007/978-1-4471-0841-2_13

T. Cootes, C. Taylor, D. Cooper, and J. Graham, Active Shape Models-Their Training and Application, Computer Vision and Image Understanding, vol.61, issue.1, pp.38-59, 1995.
DOI : 10.1006/cviu.1995.1004

T. Cootes, K. Walker, and C. Taylor, View-based active appearance models, IEEE International Conference on Automatic Face and Gesture Recognition, pp.227-232, 2000.

T. F. Cootes, G. J. Edwards, and C. J. Taylor, Active appareance models, the European Conference on Computer Vision, pp.484-498, 1998.

P. I. Corke, Visual Control of Robots : high-performance visual servoing, 1996.

R. Coudarcher, Composition de squelettes algorithmiques : application au prototypage rapide d'applications de vision, Thèse de doctoratàdoctoratà l'Ecole Doctorale Sciences pour l'Ingénieur de Clermont-Ferrand, 2002.
URL : https://hal.archives-ouvertes.fr/tel-00003350

R. Coudarcher and F. Duculty, Algorithmic skeleton nesting with skipper-2 : A case study, 2002.

R. Coudarcher, F. Duculty, J. Sérot, F. Jurie, J. Dérutin et al., Algorithmic skeleton nesting parallelisation of a 3d face tracking from appearance with the skipper-2 parallel programming environment, 6th World Multiconference on Systemics, Cybernetics and Informatics (SCI), 2002.

R. Coudarcher, F. Duculty, J. Sérot, F. Jurie, J. Dérutin et al., Parallelisation of a Face Tracking Algorithm with the SKiPPER-II Parallel Programming Environment, 2003 IEEE International Workshop on Computer Architectures for Machine Perception, 2003.
DOI : 10.1109/CAMP.2003.1598164

R. Coudarcher, J. Sérot, and J. Dérutin, Implementation of a skeletonbased parallel programming environment supporting arbitrary nesting, the 6th International Workshop on High-Level Parallel Programming Models and Supportive Environments , volume LNCS 2026, pp.71-85, 2001.

J. L. Crowley and J. M. Bedrune, Integration and control of reactive visual processes, Proc. European Conference on Computer Vision, pp.47-58, 1994.

B. Curwen, Dynamic contours : Real-time active splines. Active Vision, pp.39-58, 1992.

J. Darlington, Y. Guo, H. W. To, and J. Yang, Functional skeletons for parallel coordination, Lecture Notes in Computer Science, vol.966, pp.55-65, 1995.
DOI : 10.1007/BFb0020455

T. Darrell, I. A. Essa, and A. P. Pentland, Task-specific gesture analysis in real-time using interpolated views, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.18, issue.12, pp.1236-1242, 1996.
DOI : 10.1109/34.546259

V. Colin-deverdì-ere and J. L. Crowley, Visual recognition using local appearance, the Fifth European Conference on Computer Vision, p.xx?yy, 1998.
DOI : 10.1007/BFb0055695

D. Decarlo and D. Metaxas, Deformable model-based face shape and motion estimation, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition
DOI : 10.1109/AFGR.1996.557256

K. Deguchi and T. Noguchi, Visual servoing using eigenspace method and dynamic calculation of interaction matrices, Proceedings of 13th International Conference on Pattern Recognition, pp.7-10, 1996.
DOI : 10.1109/ICPR.1996.546038

F. Dellaert and R. Collins, Fast image-based tracking by selective pixel integration, ICCV Workshop on Frame-Rate Vision, p.xx?yy, 1999.

J. Denzler and D. W. Paulus, Active motion detection and object tracking, Proceedings of 1st International Conference on Image Processing, 1994.
DOI : 10.1109/ICIP.1994.413812

L. Dubuisson and J. , Vehicle segmentation and classification using deformable templates, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.18, issue.3, pp.293-308, 1996.
DOI : 10.1109/34.485557

F. Duculty, M. Dhome, and F. Jurie, Suivi de motif en temps réel dans des séquences d'images, InPremì eres Rencontres des Sciences et Technologies de l'Information ASTI, Cité des Sciences et de l'Industrie, 2001.

F. Duculty, M. Dhome, and F. Jurie, Suivi efficace d'objets 3d basé sur l'apparence (efficient tracking of 3d objects from appearance), pp.5-6403, 2001.

F. Duculty, M. Dhome, and F. Jurie, Tracking of 3d objects from appearance, the 12th Scandinavian Conference on Image Analysis, pp.515-522, 2001.
URL : https://hal.archives-ouvertes.fr/inria-00548282

F. Duculty, M. Dhome, and F. Jurie, Real time 3D face tracking from appearance, Proceedings. International Conference on Image Processing, pp.581-584, 2002.
DOI : 10.1109/ICIP.2002.1038090
URL : https://hal.archives-ouvertes.fr/inria-00548257

F. Duculty, M. Dhome, and F. Jurie, Suivi temps réel d'objets 3d basé sur l'apparence (real time tracking of 3d objects from appearance), 13ème Congrès Francophone AFRIF-AFIA de Reconnaissance des Formes et d'Intelligence Artificielle (RFIA), pp.67-76, 2002.

J. H. Duncan and T. Chou, Temporal Edges: The Detection Of Motion And The Computation Of Optical Flow, [1988 Proceedings] Second International Conference on Computer Vision, pp.374-382, 1988.
DOI : 10.1109/CCV.1988.590014

B. Espiau, F. Chaumette, and P. Rives, A new approach to visual servoing in robotics

H. Farid and E. Adelson, Separating reflections and lighting using independent components analysis, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149), pp.262-267, 1999.
DOI : 10.1109/CVPR.1999.786949

D. J. Fleet, M. J. Black, Y. Yacoob, and A. D. Jepson, Design and use of linear models for image motion analysis, International Journal of Computer Vision, vol.36, issue.3, pp.171-193, 2000.
DOI : 10.1023/A:1008156202475

. G. Jr, T. Legters, and . Young, A mathematical model for computer image tracking, IEEE Trans. on PAMI, vol.4, issue.6, pp.583-594, 1982.

D. Ginhac, J. Sérot, and J. Dérutin, Fast prototyping of image processing applications using functional skeletons on a mimd-dm architecture, IAPR Workshop on Machine Vision and Applications, pp.468-471, 1998.

M. Gleicher, Projective registration with difference decomposition, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.331-337, 1997.
DOI : 10.1109/CVPR.1997.609345

S. Gong, S. Mckenna, and A. Psarrou, Dynamic vision : From images to face recognition, p.xx?yy, 2000.
DOI : 10.1142/p155

S. Gong, A. Psarrou, I. Katsouli, and P. Palavouzis, Tracking and Recognition of Face Sequences, European Workshop on Combined Real and Synthetic Image Processing for Broadcast and Video Production, pp.96-112, 1994.
DOI : 10.1007/978-1-4471-3035-2_8

G. Hager, Calibration-free visual control using projective invariance, Proceedings of IEEE International Conference on Computer Vision, pp.1009-1015, 1995.
DOI : 10.1109/ICCV.1995.466824

G. Hager, S. Hutchinson, and P. Corke, A tutorial on visual servo control, IEEE International Conference on Robotics and Automation, 1996.

D. Gregory, P. N. Hager, and . Belhumeur, Efficient region tracking with parametric models of geometry and illumination, IEEE Trans. on PAMI, vol.20, issue.10, pp.1025-1039, 1998.

H. G. Barrow and J. M. Tenenbaum, Interpreting line drawings as three-dimensional surfaces, Artificial Intelligence, vol.17, issue.1-3, pp.75-116, 1981.
DOI : 10.1016/0004-3702(81)90021-7
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.34.5760

J. Hornegger, H. Niemann, and R. Risack, Appearance-based object recognition using optimal feature transforms, Pattern Recognition, vol.33, issue.2, pp.209-224, 2000.
DOI : 10.1016/S0031-3203(99)00048-5

M. Isard and A. Blake, Condensation ? conditional density propagation for visual tracking, International Journal of Computer Vision, vol.29, issue.1, pp.5-28, 1998.
DOI : 10.1023/A:1008078328650

D. Jacobs, P. Belhumeur, and R. Basri, Comparing images under variable illumination, Proceedings. 1998 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No.98CB36231), pp.610-617, 1998.
DOI : 10.1109/CVPR.1998.698668

J. J. Koenderink and D. Van-doorn, The shape of smooth objects and the way contours end, Perception, vol.11, issue.2, pp.129-137, 1982.
DOI : 10.1068/p110129

F. Jurie and M. Dhome, Un algorithme efficace de suivi d'objets dans des séquences d'images, Congrès francophone RFIA, pp.537-546, 2000.

F. Jurie and M. Dhome, Real time template matching : an efficient approach, the 12th International Conference on Computer Vision, pp.544-549, 2001.

F. Jurie and M. Dhome, Hyperplane approximation for template matching, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7
DOI : 10.1109/TPAMI.2002.1017625
URL : https://hal.archives-ouvertes.fr/inria-00548267

K. Nakayama, S. Shimojo, and G. H. Silverman, Stereoscopic Depth: Its Relation to Image Segmentation, Grouping, and the Recognition of Occluded Objects, Perception, vol.20, issue.1, pp.55-68, 1989.
DOI : 10.1068/p180055

R. E. Kalman, A New Approach to Linear Filtering and Prediction Problems, Journal of Basic Engineering, vol.82, issue.1, pp.34-45, 1973.
DOI : 10.1115/1.3662552

W. Kass and T. , Snakes: Active contour models, International Journal of Computer Vision, vol.5, issue.6035, pp.321-331, 1987.
DOI : 10.1007/BF00133570

D. Koller, K. Daniilidis, and H. H. Nagel, Model-based object tracking in monocular image sequences of road traffic scenes, International Journal of Computer Vision, vol.10, issue.3, pp.257-281, 1993.

H. Kollnig and H. H. Nagel, 3d pose estimation by directly matching polyhedral models to gray value gradients, International Journal of Computer Vision, vol.23, issue.3, pp.283-302, 1997.
DOI : 10.1023/A:1007927317325

I. Konukseven, B. Kaftanoglu, and T. Balkan, Multisensor controlled robotic tracking and automatic pick and place, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, pp.1356-1362, 1997.
DOI : 10.1109/IROS.1997.656515

A. Kuchinsky, C. Pering, M. L. Creech, D. Freeze, B. Serra et al., FotoFile, Proceedings of the SIGCHI conference on Human factors in computing systems the CHI is the limit, CHI '99
DOI : 10.1145/302979.303143

M. L. Cascia, S. Sclaroff, and V. Athitsos, Fast, reliable head tracking under varying illumination, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149), pp.322-336, 2000.
DOI : 10.1109/CVPR.1999.787001

M. Lades, J. Vorbruggen, J. Buhmann, J. Lange, C. Malsburg et al., Distortion invariant object recognition in the dynamic link architecture, IEEE Transactions on Computers, vol.42, issue.3, pp.300-311, 1993.
DOI : 10.1109/12.210173

A. Lanitis, C. J. Taylor, and T. F. Cootes, Automatic tracking, coding and reconstruction of human faces, using flexible appearance models, Electronics Letters, vol.30, issue.19, pp.1578-1579, 1994.
DOI : 10.1049/el:19941110

Y. Li, S. Gong, and H. Liddell, Support vector regression and classification based multi-view face detection and recognition, IEEE International Conference on Automatic Face and Gesture Recognition, pp.300-305, 2000.

H. G. Longuet-higgins and K. Prazdny, The Interpretation of a Moving Retinal Image, the Proc. Roy. Soc. London, pp.385-397, 1980.
DOI : 10.1098/rspb.1980.0057

D. Lowe, Robust model-based motion tracking through the integration of search and estimation, International Journal of Computer Vision, vol.2, issue.4, pp.113-122, 1992.
DOI : 10.1007/BF00127170

M. D. Riley, The representation of image texture. AI-TR 649, M.I.T. AI-LAB, 1981.

T. Metaxas, Shape and nonrigid motion estimation through physics-based synthesis, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.15, issue.6, pp.580-591, 1993.
DOI : 10.1109/34.216727

B. Moghaddam and A. Pentland, Face recognition using view-based and modular eigenspaces Automatic systems for the identification and inspection for humans, p.2277, 1994.

B. Moghaddam and A. Pentland, A subspace method for maximum likelihood taget detection, 1995.

H. Murase and S. K. Nayar, Visual learning and recognition of 3-d objects from appearance, International Journal of Computer Vision, vol.37, issue.10, pp.5-24, 1995.
DOI : 10.1007/BF01421486

D. Murray and A. Basu, Motion tracking with an active camera, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.16, issue.5, pp.449-459, 1994.
DOI : 10.1109/34.291452

K. Shree, R. M. Nayar, and . Bolle, Reflectance based object recognition, International Journal of Computer Vision, vol.17, issue.3, pp.219-240, 1996.

K. Shree, S. A. Nayar, H. Nene, and . Murase, Subspace methods for robot vision, IEEE Transactions on Robotics and Automation on Vision-Based Control of Robot Manipulators, vol.12, issue.5, pp.750-758, 1996.

T. Hieu, M. Nguyen, R. Worring, . Van-den, and . Boomgaard, Occlusion robust adaptive template tracking, the 12th International Conference on Computer Vision, pp.678-683, 2001.

N. Papanikolopoulos, P. Khosla, and T. Kanade, Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision, IEEE Transactions on Robotics and Automation, vol.9, issue.1, pp.14-35, 1993.
DOI : 10.1109/70.210792

S. Pei and L. Liou, Vehicle-type motion estimation by the fusion of image point and line features, Pattern Recognition, vol.31, issue.3, pp.333-344, 1998.

M. Pontil and A. Verri, Support vector machines for 3D object recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.20, issue.6, pp.637-646
DOI : 10.1109/34.683777

R. Arthur, D. G. Pope, and . Lowe, Learning 3d object recognition models from 2d images, AAAI-MLCV96, 1996.

R. Arthur, D. G. Pope, and . Lowe, Learning appearance models for object recognition, ORCV96, 1996.

K. Prazdny, S. Romdhani, S. Gong, and A. Psarrou, Determining the instantaneous direction of motion from optic flow generated by a curvilinearly moving observer Computer Vision Graphics, Image Processing A multi-view non-linear active shape model using kernel pca, British Machine Vision Conference, pp.483-492, 1999.

C. Samson, B. Espiau, and M. L. Borgne, Robot control : The task function approach, 1991.

B. G. Schunk, The image flow constraint equation. Computer Vision Graphics, Image Processing, vol.35, pp.20-40, 1986.

J. Sérot, D. Ginhac, R. Chapuis, and J. Dérutin, Fast prototyping of parallel-vision applications using functional skeletons. Machine Vision and Applications, pp.271-290, 2001.

D. B. Skillicorn, Architecture-independent parallel computation, Computer, vol.23, issue.12, pp.38-50, 1990.
DOI : 10.1109/2.62092

A. Smolic, J. Ohm, and T. Sikora, Object-based global motion estimation using a combined feature matching and optical flow approach, Proc. VLBV'98, 1998.

C. Stiller and J. Konrad, Estimating motion in image sequences, IEEE Signal Processing Magazine, vol.16, issue.4, pp.70-91, 1999.
DOI : 10.1109/79.774934

J. Strom, T. Jebara, S. Basu, and A. Pentland, Real time tracking and modeling of faces: an EKF-based analysis by synthesis approach, Proceedings IEEE International Workshop on Modelling People. MPeople'99, 1999.
DOI : 10.1109/PEOPLE.1999.798346

T. Kanade, Recovery of the three-dimensional shape of an object from a single view, Artificial Intelligence, vol.17, issue.1-3, pp.409-460, 1981.
DOI : 10.1016/0004-3702(81)90031-X

I. Takahashi and K. Deguchi, Image-based control of robot and target objet motion by eigen space method, IARP Workshop on Machine Vision Applications, pp.472-475, 1998.

. Peng-seng, A. K. Tho, and . Forrest, Occlusion detection in early vision, Int. Conf. on Comp. Vision, pp.126-132, 1990.

M. Tonkoand, J. Schurmann, K. Schafer, and H. Nagel, Visually gripping of a ued car battery, IEEE/RSJ International Conference on Intelligent Robot and Systems, pp.49-54, 1997.

M. Turk and A. Pentland, Eigenfaces for Recognition, Journal of Cognitive Neuroscience, vol.10, issue.9, pp.71-86, 1991.
DOI : 10.1007/BF00239352

T. Vetter and T. Poggio, Linear object classes and image synthesis from a single example image, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.19, issue.7, pp.733-742, 1997.
DOI : 10.1109/34.598230

W. B. Thompson and R. P. Whillock, Occlusion-sensitive matching, Proc. Int. Conf. on Comp. Vision, pp.285-289, 1988.

J. J. Wu, R. E. Rink, T. M. Caelli, and V. G. Gourishankar, Recovery of the 3-d location and motion of a rigid object through camera image, International Journal of Computer Vision, vol.3, pp.373-394, 1989.

O. Yamaguchi, K. Fukui, and K. Maeda, Face recognition using temporal image sequence, Proceedings Third IEEE International Conference on Automatic Face and Gesture Recognition
DOI : 10.1109/AFGR.1998.670968

G. S. Young and R. Chellappa, 3d motion estimation using a sequence of noisy stereo images, Proc. IEEE Conference on Computer Vision and Pattern Recognition, pp.710-716, 1988.

A. L. Yuille, P. W. Hallinan, and D. S. Cohen, Feature extraction from faces using deformable templates, International Journal of Computer Vision, vol.26, issue.6, pp.99-111, 1992.
DOI : 10.1007/BF00127169