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检索条件"任意字段=1st Canadian Conference on Computer and Robot Vision"

共 308 条记录，以下是121-130 订阅

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Cylindrical pellet pose estimation in clutter using a single robot mounted camera 13

Cylindrical pellet pose estimation in clutter using a single...

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1st International conference on Advances in robotics, AIR 2013

作者： Tiwan, Punit Boby, Riby Abraham Roy, Sumantra Dutta Chaudhury, Santanu Saha, S.K. Electrical Engineering Indian Institute of Technology Delhi New Delhi India Mechanical Engineering Indian Institute of Technology Delhi New Delhi India

ISBN: (纸本)9781450323475

Pose estimation of cylindrical pellet using a single camera-in-hand configuration of a robot is discussed in this paper. Approaches to estimate pose in both isolated and an occluded environment is discussed. The pellet contour from the segmented image of the scene was compared with contours in the database to ascertain the matching orientation. For occluded pellets, a multiple-view based pose recognition system is proposed. Later, the estimated pose was communicated to the robot to enable it to pick-up the pellet. This has been experimentally implemented for cylindrical pellets and the performance is discussed. The algorithm enables online pellet pose determination and pick-up using KUKA KR5 robot. © 2013 ACM.

关键词： computer vision

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PSO Obstacle Avoidance Algorithm for robot in Unknown Environment

PSO Obstacle Avoidance Algorithm for Robot in Unknown Enviro...

引用

1st International conference on Communication and computer vision (ICCCV)

作者： Supakar, Nivedita Senthil, A. Mody Inst Technol & Sci Fac Engn & Technol Comp Sci & Engn Dept Lakshmangarh Rajasthan India

ISBN: (纸本)9781479962532

PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem iteratively, trying to improve the solution particles to get better quality of the particle called target solution. In this paper, PSO algorithm is used to find the particle best position value by searching the solution space to determine the minimum distance from the obstacle. The position of each particle is updated according to the distance and velocity equation. The LEGO NXT mobile robot which is considered to be as source is placed in any position in ndimensional environment. And there are 'n' numbers of obstacle placed in the same unknown environment. Each time, a swarm of particles are moving in the same workspace to detect and ensure if an obstacle is present there or not near to gbest location. The particles move to the global best position, following the one which is at the minimum distance from the obstacle and stop at the certain range from the obstacle. The robot then moves to the located position each time iteratively, until and unless it reaches to the target solution. Based on the position of the obstacle, the objective function to find the exact minimum distance from the obstacle is calculated. Main objective of this paper is to provide an optimized algorithm based on PSO for robot to move from source to destination by avoiding all possible obstacles. Already existing standard PSO algorithm has been modified by introducing one more objective function which is used to perform the local search based on the global search depending on the calculated gbest value by using the standard PSO algorithm. Thus we introduce a modified version of PSO algorithm called MPSO which increases the efficiency of the already existing PSO algorithm.

关键词： Modified particle swarm optimization LEGO NXT optimized and randomized source positioning MPSO for LEGO NXT Comparison between PSO and MPSO

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AN OPTIMAL SOUND DETECTION FOR robotS IN AN UNKNOWN ENVIRONMENT

AN OPTIMAL SOUND DETECTION FOR ROBOTS IN AN UNKNOWN ENVIRONM...

引用

1st International conference on Communication and computer vision (ICCCV)

作者： Saha, Ishani Senthil, A. Mody Inst Technol & Sci Fac Engn & Technol Comp Sci & Engn Dept Lakshmangarh Rajasthan India

ISBN: (纸本)9781479962532

robot technology has been rapidly developed more & more robots such as humanoid robots work with humans. The objective of this project is to develop a system for an autonomous mobile robot for searching and tracking sound source based target using sound sensors. Finding objects or events by following a sound source direction is an intuitive response for human and animal when they cannot see the target. Lego nxt sound sensor can detect the frequency of sound but is unable to detect the direction from where the sound is originating. PSO algorithm has been implemented for the optimization of the exact sound source. PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem in each iteration, trying to improve the particle solutions and to get better quality of the particles each time. Objective function has been applied to detect the frequency and then the source continuously updates its position on the basis of frequency being detected. So that maximum frequency sound can be detected in minimum possible time and in exact location. Simulation work has been carried out by implementing the PSO algorithm in MATLAB to see how exactly the sound sources are detecting the frequency and at what particular frequency the source is exactly detecting the sound. Results have been computed by changing the number of iterations to see the exact location where the sound source is finding the frequency. Thus the main objective of this paper is to compute that the source is detecting the optimized maximum frequency sound by updating its gbest values continuously in every iteration and finally reaching the best possible value.

关键词： PSO algorithm Lego NXT sound sensors mobile robot

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3D human-pose tracking through a monocular vision

3D human-pose tracking through a monocular vision

引用

1st International conference on robot Intelligence Technology and Applications, RiTA 2012

作者： Kim, Minho Joo, Sihyun Jo, Sungho Dept. of Computer Science KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

We develop an algorithm for 3D human-pose tracking through a monocular vision. The algorithm is based on body-silhouette shape matching combined with particle-filter-based selected-region tracking in the 2D view. The selected-region tracking, combined with human-body structural data, restricts the temporal interpretation of 3D human poses to those best corresponding to the 2D silhouette shapes. The experimental results demonstrate that our approach performs real-time human-motion tracking with good quality and reasonable robustness. © 2013 Springer-Verlag.

关键词： Gesture recognition

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Development of a fall detection system with microsoft kinect

Development of a fall detection system with microsoft kinect

引用

1st International conference on robot Intelligence Technology and Applications, RiTA 2012

作者： Kawatsu, Christopher Li, Jiaxing Chung, C.J. Department of Mathematics and Computer Science Lawrence Technological University 21000 West Ten Mile Road Southfield MI 48075-1058 United States

ISBN: (纸本)9783642373732

Falls are the leading cause of injury and death among older adults in the US. computer vision systems offer a promising way of detecting falls. The present paper examines a fall detection and reporting system using the Microsoft Kinect sensor. Two algorithms for detecting falls are introduced. The first uses only a single frame to determine if a fall has occurred. The second uses time series data and can distinguish between falls and slowly lying down on the floor. In addition to detecting falls, the system offers several options for reporting. Reports can be sent as emails or text messages and can include pictures during and after the fall. A voice recognition system can be used to cancel false reports. © 2013 Springer-Verlag.

关键词： Fall detection

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Constraint-free topological mapping and path planning by maxima detection of the kernel spatial clearance density

Constraint-free topological mapping and path planning by max...

引用

1st International conference on Pattern Recognition Applications and Methods, ICPRAM 2012

作者： Papadakis, Panagiotis Gianni, Mario Pizzoli, Matia Pirri, Fiora Department of Computer and System Sciences ALCOR Vision Perception and Cognitive Robotics Laboratory University of Rome La Sapienza Rome Italy

ISBN: (纸本)9789898425980

Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment that endows a robot with the ability to operate in a coarse-to-fine strategy. In this paper, we propose a novel topological segmentation method of generic metric maps operating concurrently as a path-planning algorithm. First, we apply a Gaussian Distance Transform on the map that weighs points belonging to free space according to the proximity of the surrounding free area in a noise resilient mode. We define a region as the set of all the points that locally converge to a common point of maximum space clearance and employ a weighed meanshift gradient ascent onto the kernel space clearance density in order to detect the maxima that characterize the regions. The spatial intra-connectivity of each cluster is ensured by allowing only for linearly unobstructed mean-shifts which in parallel serves as a path-planning algorithm by concatenating the consecutive mean-shift vectors of the convergence paths. Experiments on structured and unstructured environments demonstrate the effectiveness and potential of the proposed approach.

关键词： Motion planning

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A regressor free adaptive backstepping design of flexible joint robot based on function approximation technique

A regressor free adaptive backstepping design of flexible jo...

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

作者： Chang, Yin-Chieh Shaw, Jinsiang Institute of Mechatronic Engineering National Taipei University of Technology Taipei Taiwan

ISBN: (纸本)9780769545813

In this paper a function approximation technique is proposed for adaptive backstepping design of a flexible-joint robot manipulator. The dynamics of the robot manipulator are derived with the assumption that all matrices in this robot model are unknown. Since these matrices are time varying and their variation bounds are not given, traditional adaptive or robust control schemes cannot be applied. The function approximation technique is employed here to represent uncertainties in some finite linear combinations of the orthogonal basis. Using the Lyapunov stability theory, a set of update law is derived to give closed loop stability with proper tracking performance. A two-link flexible-joint robot is used in the computer simulation to verify validity and effectiveness of the proposed control law. © 2011 IEEE.

关键词： Flexible manipulators

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The integration and application of machine vision by using ultra-low alignment stage

The integration and application of machine vision by using u...

引用

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

作者： Wen, Chih-Chin Lin, Hui-Hung Lin, Shi-Wei Lin, Chorng-Tyan Yang, Chun-Ming Yang, Jwu-Jiun Metal Industries Research and Development Centre Mechatronics Section Kaohsiung Taiwan

ISBN: (纸本)9780769545813

Integrating machine vision and motion control method into a double layers alignment system is a popular issue in flat panel display and semiconductor industry. An ultra-low stage is considered to compensate the posture between the upper and nether misalignment. Classic template matching is introduced in this paper to recognize the fiducial marks in this proposed alignment system. The compensate variables with the vision posture are integrated to implement the alignment system using an ultra-low stage. Experimental results are shown to demonstrate the feasibility of this system. © 2011 IEEE.

关键词： computer vision

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Worn-out images in testing image processing algorithms

Worn-out images in testing image processing algorithms

引用

canadian conference on computer and robot vision

作者： Wirth, Michael Nikitenko, Denis School of Computer Science University of Guelph Guelph ON N1G2W1 Canada

ISBN: (纸本)9780769543628

Many image processing applications such as noise suppression and contrast enhancement are designed to be embedded in multimedia devices such as digital cameras. In order to test the accuracy and robustness of these algorithms they should be evaluated in the context of the problem domain. For nearly three decades many promising algorithms have been tested using a series of images which do not realistically represent the breadth of applications for evaluating image processing algorithms. This paper describes some of the shortcomings of using these worn-out images in algorithm testing, and also the use of simulated defects. © 2011 IEEE.

关键词： Defects

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Integration interval determination algorithms for DLC receivers

Integration interval determination algorithms for DLC receiv...

引用

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

作者： Chang, Chuan-Wang Hsu, Hsi-Chou Department of Electrical Engineering Chienkuo Technology University Taiwan Department of Computer and Communication National Pingtung Institute of Commerce Taiwan

ISBN: (纸本)9780769545813

A proposed delay line combination (DLC) receivers have the unique ability to achieve symbol timing synchronization within a single symbol interval [1]. Although DLC receivers do not require channel estimation, the setting of the integration interval affects the performance measured by the mean square error (MSE) and the bit error rate (BER). In this study, we present an adaptive algorithm to determine the integration interval for the DLC receiver. © 2011 IEEE.

关键词： Adaptive algorithms

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