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Visual detection of 3D obstacles using gated images

Visual detection of 3D obstacles using gated images

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： A. Sluzek Tan Ching Seong School of Computer Engineering Singapore School of Mechanical & Production Engineering Singapore

We present further results in a novel method of visual obstacle detection. In this method, scenes are illuminated by short laser pulses, and images are captured by a gated camera. By controlling the pulse width and the gating time, it is possible to obtain images that contain only objects within a predefined distance. the rest of the scene remains invisible. We previously presented preliminary results confirming the method's feasibility, in this paper, we focus on the results obtained for more complex scenes with large 3D objects. the experiments again confirm that the method can be prospectively used to create robust and reliable systems for vision-based navigation. However, we also observed many unexpected effects that require further experiments and theoretical studies.

关键词： Layout Cameras Robustness Robot sensing systems Optical noise Space vector pulse width modulation Navigation Intelligent robots Robot vision systems Sensor systems

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A simulator of winding machine controller using LabView environment

A simulator of winding machine controller using LabView envi...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chao-Huang Wei Chih-Hsing Wu Department of Electrical Engineering Southern Taiwan University of Technology Tainan County Taiwan

ISBN: (纸本)0780386531

Winding systems are major components in a wide variety of industrial factories for metal sheet or web conveyance, papermaking or polymer film extrusion processes. In those systems, it is clear that the quality of products and the performance of systems are determined by tension and velocity control of the moving material. Although the machine is classified as a nonlinear system typically, however, PID based controller are employed mostly in the industries. In this paper, based on a real machine a simulator with adaptive PID controller of the winding machine modeling and control are presented. Diverse control parameters can be inserted manual or automatic into the simulator via LabView software interface, and the user can observe the simulation results before apply them into the real machine for finishing products, thus saving costly material and time for pre-experiments.

关键词： Machine windings Automatic control Electrical equipment industry Machinery production industries three-term control Metals industry Plastics industry Production facilities Polymer films Velocity control

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A linear self-calibration approach for camera focal length estimation

A linear self-calibration approach for camera focal length e...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Zhaolin Cheng Weilun Lao A.L. Kam A. Kassim Department of Mechanical Engineering National University of Singapore Singapore Institute for Infocomm Research Singapore Department of Electrical & Computer Engineering National University of Singapore Singapore

this paper comes up with a linear self-calibration approach for camera focal length estimation. Compared with other linear techniques, the advantage of this method is that no priori information of motion is needed. From the degenerated equations (one quadratic and two linear), the essential constraints are generated on calibration of camera intrinsic parameters. thus the focal length of camera is conveniently obtained in closed form on the reliable assumption that only the focal length is unknown but constant, and the skew factor is zero. Synthetic object/image, real images of indoor and outdoor generic scenes and 3D model reconstruction are involved in our experiments to analyze the accuracy of the estimated focal length. the experimental results indicate that our proposed method is both robust and efficient.

关键词： Cameras Equations Calibration Robot vision systems Layout Robustness Motion control Mechanical engineering Image reconstruction Image analysis

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Communication-based multiple mobile robots rigid formation control

Communication-based multiple mobile robots rigid formation c...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Lei Cheng Yongji Wang Center for Nonlinear and Complex Systems Department of Control Science and Engineering University of Science and Technology Wuhan China

ISBN: (纸本)0780386531

In this paper, we describe a general multiple mobile robots formation control system through communication channel. With this technique, the multirobot formation control system without environment constraint can be realized. A distinguishing feature of our work is the fact that robot formation relies only on communication whether the members in team sense others or not. Firstly, we propose a kind of multirobot formation architecture based on multi-agent system. Furthermore, in this architecture, modularization agent design is taken. To demonstrate the validity of such framework, an improved closed-up multirobot rigid formation control algorithm is introduced. Our results include a series of virtual robot simulations and experiments using three mobile robots. the results show our design is feasible.

关键词： Mobile communication Mobile robots Robot control Communication system control control systems Robot sensing systems Communication channels Multiagent systems

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Neural networks-based terrain acquisition of unmarked area for robot mowers

Neural networks-based terrain acquisition of unmarked area f...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Huakun Wang Li Zu Feng Yue Institute of Mechanical Engineering Nanjing University of Science and Technology of PLA Nanjing China

ISBN: (纸本)0780386531

Robot mowers are required to cover every part of the arbitrarily shaped lawn. In this paper the operational area populated with some obstacles without any manmade marks is managed differing from areas always well-marked. An effective terrain acquisition approach based on neural network is proposed for the robot mower. the robot circumnavigates the lawn and all obstacles to complete the terrain acquisition task under the proposed subsection acquisition strategy. the localization system with combined sensors serves the robot reliably to gain the digital boundary map of the unmarked operational area. According to the specialities of outdoor environment and the practical mowing requirements, the designed RBF network can make the accuracy of the terrain acquisition well improved and it is validated by experiment results. Finally the performance of the terrain acquisition is analyzed. the technical presentations in this paper can facilitate the development of the environmental robotics.

关键词： Neural networks Robot sensing systems Mobile robots robotics and automation Wire Intelligent robots Biosensors Mechanical engineering Sensor systems Radial basis function networks

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Research on dynamic zoning of elevator traffic based on artificial immune algorithm

Research on dynamic zoning of elevator traffic based on arti...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zhonghua Li Zongyuan Mao Jianping Wu College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)0780386531

As the abbreviation for artificial immune system, AIS is an artificial intelligence approach newly put forward, which has been widely applied to many fields such as data analysis, multimodal function optimization, computer security, error detection, etc. Based on AIS, a novel approach was proposed for elevator traffic dynamic zoning with contiguous floors during the peak traffic. In this paper, the basic theory of AIS was firstly described, then the dynamic zoning model of elevator traffic was outlined in detail, and the artificial immune algorithm (AIA) was designed for the dynamic zoning model. Comparison was drawn among the dynamic zoning based on AIA, static zoning and non-zoning. the simulation results demonstrated the feasibility of the approach proposed in this paper. Due to its fast convergence, AIA is utilized to quickly search the optimal or suboptimal zoning of elevator traffic, so it is adaptive to variable traffic demands.

关键词： Elevators Floors Traffic control Buildings Artificial immune systems Computer security Computer errors Algorithm design and analysis Algebra Genetic algorithms

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the real-time computing model for a network based control system

The real-time computing model for a network based control sy...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Peng Wen Yan Li Faculty of Engineering and Surveying University of Southern Queensland Toowoomba QLD Australia Department of Mathematics and Computing University of Southern Queensland Toowoomba QLD Australia

ISBN: (纸本)0780386531

this paper studies a network based real-time control system, and proposes to model this system as a periodic real-time computing system. With efficient scheduling algorithms and software fault-tolerance deadline mechanism, this model proves that the system can meet its task timing constraints while tolerating system faults. the simulation study shows that in cases with high failure probability, the lower priority tasks suffer a lot in completion rate. In cases with low failure probability, this algorithm works well with both high priority and lower priority task. this conclusion suggests that an Internet based control system should manage to keep the failure rate to the minimum to achieve a good system performance.

关键词： Real time systems Computer networks control system synthesis Scheduling algorithm Fault tolerant systems Timing Computational modeling Internet control systems System performance

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Self-trained automated parking system

Self-trained automated parking system

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： R.J. Oentaryo M. Pasquier Centre for Computational Intelligence School of Computer Engineering Nanyang Technological University Singapore

this paper presents part of the research work carried out at the Centre for Computational Intelligence at NTU to develop novel technologies for the routing, navigation, and control of intelligent cars. One objective is to endow the cars with the ability to autonomously drive on various types of roads and realize manoeuvres such as reverse and parallel parking, three-point turns, etc. Our approach is to design a self-training system that makes use of human expertise to automatically derive a working car control system. A new neuro-fuzzy architecture known as the GenSoYager fuzzy neural network has been realized and integrated with our car-driving simulator for training and testing purposes. the GenSoYagerFNN has proven so far superior to other trained networks in detecting parking slots and accomplishing reverse parking manoeuvres. the approach described has also been validated using a microprocessor controlled model car.

关键词： Computational intelligence Automatic control Routing Navigation Intelligent control Competitive intelligence Roads Humans control systems Fuzzy neural networks

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Baldwin effect based self-adaptive generalized genetic algorithm

Baldwin effect based self-adaptive generalized genetic algor...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： YouFa Sun Fei-qi Deng College of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (纸本)0780386531

Standard genetic algorithm conducts probabilistic parallel searches for the best chromosome by repeating generate-and-test processes, which completely ignore experiences gained during individuals' lifetime. Such inborn defect, however, is fully intact under conventional improvements. In this paper, a novel self-adaptive generalized GA based on Baldwin effect is proposed. A fourth operator Baldwin learning, is introduced. All members must perform Baldwin learning before they enter into the gene pool for further crossover and mutation. Besides, mechanisms of "inbreeding is forbidden" and activation are built in to solve problems of crowding and slow convergence. Finally, the kernel of inconsistent self-adaptive GA is also fused into this new algorithm. Application to a benchmark problem shows the new algorithm is feasible and highly effective.

关键词： Genetic algorithms Genetic mutations Organisms Evolution (biology) Sun Educational institutions automation Genetic engineering Biological cells Convergence

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A particle filtering framework with indirect measurements for visual tracking

A particle filtering framework with indirect measurements fo...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Haihong Zhang Weimin Huang Zhiyong Huang Bailing Zhang Institute for Infocomm Research Singapore School of Computing National University of Singapore Singapore Computer Science and Mathematics Victoria University Australia

ISBN: (纸本)0780386531

Particle filtering is a stochastic approach to Bayesian recursive inference. In many computer vision applications with limited number of random samples, however, conventional particle filters may find it difficult to accurately represent the desired a posteriori distribution especially for target objects with narrow likelihood functions. this paper proposes a new particle filtering framework which, by incorporating a special indirect measurement model, can significantly improve the representation capability of the particle set, yielding an accurate estimation of a posteriori distribution for the purpose of tracking. In particular, an add-on resampling technique is proposed to incorporate the indirect measurement. In this way, we can alleviate the problem with large numbers of particles required in conventional particle filtering. Positive experimental results on both synthetic sequences and real world videos are obtained.

关键词： Filtering Particle measurements Particle tracking Target tracking Stochastic processes Bayesian methods Computer vision Application software Particle filters Yield estimation

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