Responsive vision is vision responding to the environment. The characteristics of a responsive system are: active response in dynamic environment, real time computation, and using multiple modalities in a multi-purpose system. The Vision Engine[LBKL91b] is a genenal purpose for general vision tasks. Early vision processing, e.g., optical flow and stereo is implemented in near real-time using the Datacube, producing dense displacement fields at near video rates, which are then transferred to a Transputer subsystem, where data dependent processing occurs in parallel on subimages.W e use the Vision Engine for complex processing under real-time constraint, the differences between the processing rates in a robotic system require smart buffers, objects that can buffer data between pemeption, reasoning and action processes. Smart buffers oger a simple interface between asynchronous processing tasks and simplify the structure of multiprocessor vision systems. We describe a simple motion tracker that uses a smart buffer to mediate between early and middle vision processing. The smart buffeer permits the system to sense during action by letting the sensing component accumulate visual data in the course of action. *The authors may be contacted at little@cs.ubc.ca.

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