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3D-vision-based robot navigation: First steps 1st

3D-vision-based robot navigation: First steps

引用

1st European conference on computer vision, ECCV 1990

作者： Robert, Luc Vaillant, Régis Schmitt, Michel INRIA Sophia-Antipolis 2004 Route des Lucioles Valbonne Cedex06565 France

ISBN: (纸本)9783540525226

This article shows a way of using a stereo vision system as a logical sensor to perform mobile robot navigation tasks such as obstacle avoidance. We describe our system, from which the implementation of a task described by an automaton can be done very easily. Then we show an example of a navigation task. © Springer-Verlag Berlin Heidelberg 1990.

关键词： stereo image processing

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Minimum-jerk robot joint trajectory using particle swarm optimization

Minimum-jerk robot joint trajectory using particle swarm opt...

引用

1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Liny, Hsien-I. Liu, Yu-Cheng Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan

ISBN: (纸本)9780769545813

In robot trajectory planning, finding the minimumjerk joint trajectory is a crucial issue in robotics because most robots are asked to perform a smooth trajectory. Jerk, the third derivative of joint position of a trajectory, influences how smoothly and efficiently a robot moves. Thus, the minimumjerk joint trajectory makes the robot control algorithm simple and robust. To find the minimum-jerk joint trajectory, it has been formulated as an optimization problem constrained by joint inter-knot parameters including initial joint displacement and velocity, intermediate joint displacement, and final joint displacement and velocity. In this paper, we propose a novel approach based on particle swarm optimization (PSO) with Kmeans clustering for solving the near-global minimum-jerk joint trajectory subject to different objective functions, which differs from previous work in its simple implementation and generalization. computer simulations were conducted and showed the competent performance of our approach on a six degree-offreedom robot manipulator. © 2011 IEEE.

关键词： Global optimization

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An Autonomous Indoor Exploration robot Rover and 3D Modeling with Photogrammetry 1

An Autonomous Indoor Exploration Robot Rover and 3D Modeling...

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1st International ECTI-Northern-Section conference on Electrical, Electronics, computer and Telecommunications Engineering (ECTI-NCON)

作者： Graven, Olaf Hallan Srisuphab, Ananta Silapachote, Piyanuch Sirilertworakul, Variya Ampornwathanakun, Worrapol Anekwiroj, Pakawat Maitrichit, Nagorn Univ Coll Southeast Norway Dept Sci & Ind Syst Kongsberg Norway Mahidol Univ Fac Informat & Commun Technol Bangkok Thailand

ISBN: (纸本)9781538635520

An autonomous robot rover has been designed and developed. The proposed robot rover is capable of self-localization and self-exploration of a room or an area inside a building. Self-driving and self-navigating in unknown environments, our robot constantly scans its surrounding, incrementally and dynamically constructing a global map of the visited room. Immediately after it detects an obstacle or an obstruction, the robot car does not only stop or diverge its route in order to avoid crashing into it, but also marks its location on the map as dangerously hazard. All unoccupied spaces are registered as a safe path. While exploring, the robot is programmed to take a large number of photographs of its surrounding, which includes multiple views of each scene from multiple different angles. These images collected are used to create a three-dimensional model of the interior of the room by photogrammetric methods. In addition to a general exploration of desired regions, a robot may be presented with a selected target object. It must then chooses its own path to locate the object and to circle around it in order to take many photographs of it from all directions and to create a corresponding 3D model.

关键词： Autonomous automobiles Cameras Three-dimensional displays Laser radar Solid modeling robot vision systems

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Fuzzy evolutionary algorithms and automatic robot trajectory generation

Fuzzy evolutionary algorithms and automatic robot trajectory...

引用

Proceedings of the 1st IEEE conference on Evolutionary Computation. Part 1 (of 2)

作者： Xu, H.Y. Vukovich, G. Canadian Space Agency St-Hubert Canada

A fuzzy evolutionary algorithm (FEA) is presented by systematically integrating fuzzy expert systems with evolutionary algorithms in this paper. Both computer experiments and applications demonstrate that fuzzy evolutionary algorithms can generally search for optimal solutions faster and more effectively than standard genetic algorithms. As a specific application, a FEA is applied to automatic robot trajectory generation without using inverse kinematics. An example is given to show that a trajectory of a 7 degree of freedom robot can be automatically generated using the proposed FEA.

关键词： Fuzzy sets

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Visual fire detection based on data mining technique

Visual fire detection based on data mining technique

引用

1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Li, Yu-Chiang Wu, Wei-Cheng Computer Science and Information Engineering Southern Taiwan University Tainan Taiwan

ISBN: (纸本)9780769545813

Fire protection is a very important issue in social security. An effective fire detection system, which can early detect fire and alarm warning, is necessary. Visual fire detection is useful in conditions, in which conventional fire detectors cannot be employed. This study proposes an effective fire detection method, which combines the statistical fire color model and the sequential pattern mining to detect the fire in an image. Experimental results show that the proposed methods can effectively detect fire. The detection accuracy of the proposed hybrid method is better than the Çelik's method for images. © 2011 IEEE.

关键词： Fires

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MILO - Mobile Intelligent Linux robot

MILO - Mobile Intelligent Linux robot

引用

IEEE INDICON 2004 - 1st India Annual conference

作者： Rao, Alok Kumar, Satish Renu, Amit Nandi, G.C. Indian Institute of Information Technology Deoghat Jhalwa Allahabad - 211 011

ISBN: (纸本)0780389093

This paper describes the architecture of a low cost autonomous/guided mobile robot This robot is being developed at Indian Institute of Information Technology (Allahabad, India) as a part of a research for the use of mobile robots hi day-to-day life. The project is named MILO (Mobile Intelligent Linux robot). The robot has been designed from commercial off the shelf components, thus reducing the prototype design time. The robot incorporates stereoscopic vision for long range obstacle detection and Infrared proximity sensor for short range obstacle detection. The stereoscopic vision for obstacle detection utilizes laser targeting to achieve optimization in determining distances at a much lower cost than the commercially available range scanners. The robot also has a HCI (Human computer Interface) via a multimedia interface. The control software of the robot Is capable of taking voice commands from a user who has the master rights to robot It utilizes probabilistic reasoning approach. The entire software and control firmware of the robot has been designed with an embedded approach in open-source Linux which makes it easily portable over different hardware architectures. In the firmware the kernel of Linux used was. 2.6.8-1.358. Control of the robot using the video feed from the on board cameras has been achieved. © 2004 IEEE.

关键词： Intelligent robots

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A hierarchical relational model for automated inspection tasks 1

A hierarchical relational model for automated inspection tas...

引用

1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Shapiro, L. Haralick, R. Cepartment of Computer Science Virginia Polytechnic Institute State University BlacksburgVA24061 United States

ISBN: (纸本)081860526X

An F-15 bulkhead is to be inspected by a computer system employing television cameras for vision and robot arms with tactile sensors for precise measurements. The system requires a suitable model of the object to be inspected. The model must contain very precise, accurate information for low-level vision and measurement processes and at the same time be useful to high-level vision and planning processes. This requirement makes most existing three-dimensional models useless. In this paper we define a hierarchical, relational model that we have developed to be used by the robot inspection system. © 1984 IEEE.

关键词： Inspection

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Generating semantic information from 3D scans of crime scenes

Generating semantic information from 3D scans of crime scene...

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5th canadian conference on computer and robot vision

作者： Topol, Anna Jenkin, Michael Gryz, Jarek Wilson, stephanie Kwietniewski, Marcin Jasiobedzki, Piotr Ng, Ho-Kong Bondy, Michel York Univ Dept Comp Sci & Engn 4700 Keele St Toronto ON M3J 1P3 Canada MDA Brampton L6S 4J3 ON Canada

ISBN: (纸本)9780769531533

Recent advancements in laser and visible light sensor technology allows for the collection of photorealistic 3D scans of large scale spaces. This enables the technology to be used in real world applications such as crime scene investigation. The 3D models of the environment obtained with a 3D scanner capture visible surfaces but do not provide semantic information about salient features within the captured scene. Later processing must convert these raw scans into salient scene structure. This paper describes ongoing research into the generation of semantic data from the 3D scan of a crime scene to aid forensic specialists in crime scene investigation and analysis.

关键词： Semantics

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Initial Performance Improvement for Fuzzy RANSAC Algorithm Based on Weighted Estimation Model 1

Initial Performance Improvement for Fuzzy RANSAC Algorithm B...

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1st International conference on Image Processing and robotics (ICIP)

作者： Watanabe, Toshihiko Osaka Electrocommun Univ Fac Engn Neyagawa Osaka Japan

ISBN: (纸本)9781728165417

The computer vision involves many modeling problems with preventing noise caused by disturbance and sensing unit conditions. In order to improve computer vision system performance, a robust modeling technique must be developed for essential models in the system. The random sample consensus (RANSAC) and least median of squares (LMedS) algorithm have been widely applied in such issues. However, the performance deteriorates as the noise ratio increases and the modeling time for algorithms tends to increase in industrial applications. As an effective technique, we proposed a new fuzzy RANSAC method based on reinforcement learning concept for robust modeling. In this study, we proposed a new technique for the fuzzy RANSAC in order to improve learning performance in initial learning stage based on weighted modeling technique. Through modeling synthetic nonlinear data and camera homography experiments, the performance of the technique was evaluated. Their results found the proposed technique to be promising for improving modeling performance in initial learning stage.

关键词： modeling RANSAC algorithm fuzzy set reinforcement learning computer vision

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Pose estimation scheme based on the motion of a monocular vision system - preliminary results and first experimentations 1

Pose estimation scheme based on the motion of a monocular vi...

引用

1st Annual IEEE conference on Control Technology and Applications

作者： Rouquet, S. Plestan, F. Chriette, A. Ghanes, M. Hamon, A. Gilbert, V. Ecole Cent Nantes CNRS LS2N UMR 6004 Nantes France AIRBUS Stabil & Control Dept Toulouse France

ISBN: (纸本)9781509021826

In this paper, a new scheme for pose estimation in vision system is presented and evaluated on a serial robot. A nonlinear observer is proposed for online estimation of the deviations of the embedded camera w.r.t the ground reference without knowledge of the geometric features of the scene. This observer is based on high-gain strategy. The presented results consist in using feature and observation scheme to guarantee the observability and efficiency of the estimation. Experimentation results, which are the first of such observers, are presented in a controlled environment of a KUKA robot.

关键词： motion first experimentations evaluated pose estimation Evaluate computer vision ground reference Monocular vision Observability Controlled Environment Serial Publications robot Scheme

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