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Single landmark based self-localization of mobile robots

Single landmark based self-localization of mobile robots

引用

Canadian conference on computer and Robot vision, CRV

作者： A. Bais R. Sablatnig J. Gu Robotics Research Group Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Institute of Computer Technology University of Technology Vienna Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation University of Technology Vienna Vienna Austria

In this paper we discuss landmark based absolute localization of tiny autonomous mobile robots in a known environment. Landmark features are naturally occurring as it is not allowed to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. This makes simultaneous acquisition of two or more landmarks difficult. Therefore, we propose a system that requires a single landmark feature. The algorithm is based on range measurement of a single landmark from two arbitrary points whose displacement can be measured using dead-reckoning sensors. Range estimation is done with a stereo vision system. Simulation results show that the robot can localize itself if it can estimates range of the same landmark from two different position and if the displacement between the two position is known.

关键词： Mobile robots Robot sensing systems Robot vision systems Cameras Navigation Position measurement Robotics and automation Displacement measurement Educational robots Goniometers

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Estimation of Dynamic Light Changes in Outdoor Scenes Without the use of Calibration Objects

Estimation of Dynamic Light Changes in Outdoor Scenes Withou...

引用

International conference on pattern recognition

作者： M.S. Andersen T. Jensen C.B. Madsen Laboratory of Computer Vision and Media Technology University of Aalborg Aalborg Denmark

The work presented in this paper explores how dynamical light parameters in an outdoor environment can be estimated for use in a real-time augmented reality (AR) system. A method using existing inverse rendering techniques is used to acquire diffuse surface reflectances in an offline procedure. The reflectances are used in an on-line procedure to estimate the illumination parameters of an outdoor scene. The method presented reduces the light estimation problem of outdoor scenes to a modified Phong shading model with two unknown parameters, which can be determined through the use of a linear equations system. The work presented provides an elegant method for estimating dynamically changing illumination parameters without the need for a calibration object in the scene

关键词： Layout Calibration Lighting Augmented reality State estimation Reflectivity Sun Clouds Image analysis Laboratories

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

引用

International conference on pattern recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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Multi-layer Mosaics in the Presence of Motion and Depth Effects

Multi-layer Mosaics in the Presence of Motion and Depth Effe...

引用

International conference on pattern recognition

作者： Changki Min Qian Yu G. Medioni Integrated Media Systems Center University of Southern California Los Angeles CA USA

In this paper, we present a new segmentation-based 2D mosaic framework. Most of mosaic algorithms do not explicitly remove moving objects from images before registration, so that they often fail when the size of the moving objects is relatively large. To solve this problem, we first segment moving objects from the input images using the tensor voting framework, and then only the remaining backgrounds are processed for the background mosaic. The second mosaicking step is straightforward because the first motion segmentation step also produces very accurate dense matches. By providing comparative examples, we show that the quality of the background mosaics can be significantly improved by our framework

关键词： computer vision Image segmentation Motion segmentation Tensile stress Voting Intelligent robots Robustness Parameter estimation Data mining Image sequences

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Parameter Estimation and Two-Stage Segmentation Algorithm for the Chan-Vese Model

Parameter Estimation and Two-Stage Segmentation Algorithm fo...

引用

IEEE International conference on Image Processing

作者： Zhengwen Li Weiwei Wang Penglang Shui Xidian University Xi''an Peking University Beijing China

The Chan-Vese model is very efficient in segmenting images. However, the algorithm given by Chan and Vese is sensitive to the initial level set function and the regularization parameter. It is difficult to get a right segmentation if the initial level set function and the regularization parameter are not chosen properly. In this paper, we aim to automatically and accurately segment binary images . We propose a two-stage segmentation algorithm and an adaptive parameter estimation method for the regularization parameter. Experiments on some synthetic images and real images show that the proposed algorithm is very efficient.

关键词： Parameter estimation Image segmentation Level set Partial differential equations Active contours Image edge detection computer vision Differential equations pattern recognition pattern matching

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Dam-based Evolutionary Image Segmentation Using Quality Function and Union-Find Set

Dam-based Evolutionary Image Segmentation Using Quality Func...

引用

International conference on Computational Intelligence and Security

作者： Weiqin Ying Yuanxiang Li Xing Xu Xuewen Xia State Key Laboratory of Software Engineering Wuhan University Wuhan China School of Computer Science Wuhan University Wuhan China

ISBN: (纸本)1424406048

This paper explores the use of an evolutionary approach in the context of image segmentation to overcome the problem of specifying manually the number of clusters with the normalized cut approach. The proposed approach uses a quality function, a dam-based representation, and an Union-Find Set decoding method. The quality function provides an unbiased criterion and the dam-based representation can shorten chromosomes. The approach first splits raw images to a set of small homogeneous basins separated by dams, and then maximizes the quality function by dam-based genetic algorithm. The satisfactory experimental results on color images are obtained

关键词： Image segmentation Biological cells Decoding Genetic algorithms Convergence Software engineering computer science Color computer vision pattern recognition

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Structural patterns for the Transformation of Business Process Models

Structural Patterns for the Transformation of Business Proce...

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International Workshop on Enterprise Distributed Object Computing, EDOCW

作者： Marion Murzek Gerhard Kramler Elke Michlmayr Women’s Postgraduate College for Internet Technologies Institute for Software Technology and Interactive Systems University of Technology Vienna Austria Business Informatics Group (BIG) Institute for Software Technology and Interactive Systems University of Technology Vienna Austria

Due to company mergers and business to business interoperability, there is a need for model transformations in the area of business process modeling to facilitate scenarios like model integration and model synchronization. General model transformation approaches do not consider the special properties of business process models and horizontal transformation scenarios. Therefore, we propose a model transformation approach based on domainspecific patterns which are applied for analyzing business process models in a precise way. This approach facilitates the definition of business process model transformations, which can be easily adapted to different business process modeling languages and specific transformation problems. At the same time it supports the intuitive understanding of the domainexperts in business process modeling.

关键词： Companies Interactive systems Business communication Educational institutions Internet Yarn Corporate acquisitions pattern analysis Informatics computer vision

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A Clustering Approach to Free Form Surface Reconstruction from Multi-view Range Images

A Clustering Approach to Free Form Surface Reconstruction fr...

引用

IEEE International conference on Robotics and Biomimetics

作者： Hong Zhou Yonghuai Liu Department of Computer Science University of Wales Aberystwyth Ceredigion UK

3D modelling finds a wide range of applications in robot vision and reverse engineering. However due to the presence of surface scanning noise, accumulative registration error, and improper data fusion, the reconstructed surfaces from multiple registered range images are often non-smooth and distorted with thick patches, false connections and blurred features. These shortcomings will limit the wide applications of 3D modelling using the latest laser scanning systems. In this paper, we first employ the principal component analysis and hierarchical segmentation to classify surface patches into featured and non-features areas, the k-means clustering and fuzzy c means clustering approaches from the pattern recognition literature are then employed to integrate these areas respectively. Finally the fused point set is triangulated using the improved Delaunay method, guaranteeing a watertight surface. The new method is theoretically guaranteed to converge and combine the advantage of exclusive k means clustering and overlapping fuzzy c means clustering methods. A comparative study based on real images shows that the proposed algorithm desirably retains geometric details and produces smooth surface.

关键词： Surface reconstruction Image reconstruction Robot vision systems Reverse engineering Laser fusion Laser modes Laser noise Principal component analysis Image segmentation pattern recognition

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Image Translation and Rotation on Hexagonal Structure

Image Translation and Rotation on Hexagonal Structure

引用

International conference on computer and Information Technology (CIT)

作者： Xiangjian He Wenjing Jia Namho Hur Qiang Wu Jinwoong Kim University of Technology Sydney Australia Digital Broadcasting Research Division Electronics and Telecommunications Research Institute Daejeon South Korea

Image translation and rotation are becoming essential operations in many application areas such as image processing, computer graphics and pattern recognition. Conventional translation moves image from pixels to pixels and conventional rotation usually comprises of computation-intensive CORDIC operations. Traditionally, images are represented on a square pixel structure. In this paper, we perform reversible and fast image translation and rotation based on a hexagonal structure. An image represented on the hexagonal structure is a collection of hexagonal pixels of equal size. The hexagonal structure provides a more flexible and efficient way to perform image translation and rotation without losing image information. As there is not yet any available hardware for capturing image and for displaying image on a hexagonal structure, we apply a newly developed virtual hexagonal structure. The virtual hexagonal structure retains image resolution during the process of image transformations, and almost does not introduce distortion. Furthermore, images can be smoothly and easily transferred between the traditional square structure and the hexagonal structure.

关键词： Pixel Spirals Hardware computer vision Image processing computer graphics Image resolution Image storage Application software pattern recognition

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An Efficient Boundary-Based Approach for Shape Representation

An Efficient Boundary-Based Approach for Shape Representatio...

引用

International conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： N.D. Salih D.C.L. Ngo Faculty of information science & technology Multimedia University Malacca Malaysia

Content-based image retrieval (CBIR) has become a major area of research and received increasing attention. Shape representation and description is one of the major problems in CBIR. This paper outlines and presents a novel boundary-based approach for shape representation and description, which is capable of extracting reliable information of the object outline. Our technique is translation, scale, and rotation invariant. It works well on many types of shapes and fast enough for use in real-time. This technique produces a concise representation of the image that can be used to search an image database for a similar image

关键词： Shape Image retrieval Content based retrieval pattern recognition Information science Information retrieval Data mining Image databases computer vision Image recognition

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