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Vision Based Vehicle Localization for Autonomous Navigation

Vision Based Vehicle Localization for Autonomous Navigation

引用

ieee International symposium on computational intelligence in Robotics and Automation (CIRA)

作者： Steven J. Velat Jaesang Lee Nicholas Johnson Carl D. Crane

The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems has improved greatly over the previous decade, the stability of their signal has not. The phenomenon is commonly known as "drift" and may have a magnitude of more than a few meters. This paper outlines a method for vision based correction and localization of vehicle position through consideration of a priori information and perceived road characteristics. The approach is called Vision Based Position Correction for Urban Environments, and it will be deployed in the 2007 DARPA Urban Challenge.

关键词： Remotely operated vehicles Mobile robots Navigation Global Positioning System Road vehicles Error correction Intelligent sensors Land vehicles Cameras image edge detection

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Monocular SLAM for Visual Odometry

Monocular SLAM for Visual Odometry

引用

ieee International symposium on Intelligent signal processing

作者： Rodrigo Munguia Antoni Grau Department of Automatic Control Technical University of Catalonia UPC Barcelona Spain

ISBN: (纸本)1424408296;97

The ego-motion online estimation process from a video input is often called visual odometry. Typically optical flow and structure from motion (SFM) techniques have been used for visual odometry. Monocular simultaneous localization and mapping (SLAM) techniques implicitly estimate camera ego-motion while incrementally build a map of the environment. However in monocular SLAM, when the number of features in the system state increases, the computational cost grows rapidly; consequently maintaining frame rate operation becomes impractical. In this paper monocular SLAM is proposed for map-based visual odometry. The number of features is bounded removing features dynamically from the system state, for maintaining a stable processing time. In the other hand if features are removed then previous visited sites can not be recognized, nevertheless in an odometry context this could not be a problem. A method for feature initialization and a simple method for recovery metric scale are proposed. The experimental results using real image sequences show that the scheme presented in this paper is promising.

关键词： Simultaneous localization and mapping Cameras image motion analysis Robot vision systems computational efficiency Optical sensors Motion estimation Uncertainty Predictive models image sequences

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Computer Vision Studies Using Stochastic Resonance/Information-theoretic Methods

Computer Vision Studies Using Stochastic Resonance/Informati...

引用

ieee International symposium on computational intelligence in Robotics and Automation (CIRA)

作者： D. W. Repperger R. G. Roberts A. R. Pinkus Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering FAMU and FSU College of Engineering Tallahassee FL USA

An investigation into computer vision techniques is conducted using a procedure from nonlinear dynamics termed "stochastic resonance." This work involves concepts from detection theory, information theory and nonlinear dynamics. An information distance metric is synthesized which helps define the dependent measure to be used with the stochastic resonance optimization. Monte Carlo simulations show the efficacy of the proposed method. A class of test objects are presented to fairly evaluate the utility of the proposed methods introduced.

关键词： Computer vision Stochastic resonance Strontium signal processing Physics Information theory Application software Object recognition Noise figure computational intelligence

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An efficient image coding using multiple subbands integer wavelet decomposition

An efficient image coding using multiple subbands integer wa...

引用

ieee International symposium on Intelligent signal processing and Communication Systems (ISPACS)

作者： Li-bao Zhang Xian-chuan Yu College of Information Science and Technology Beijing Normal University Beijing China

Integer wavelet transform (IWT) and IWT-based image coding offer many advantages over traditional wavelet. But coefficient magnitudes of the IWT-image have smaller dynamic change value and worse energy compaction than the first generation wavelet. Those reduce efficiency of IWT-based coding. In this paper, we present a new still image coder based on multiple subbands decomposition and IWT (integer wavelet transform). These high frequency subbands with the higher entropy can be decomposed secondly. Experimental results show that the lossy performance of the new coder is quite competitive with other efficient lossy compression methods.

关键词： image coding Discrete wavelet transforms Wavelet transforms Frequency Entropy signal processing algorithms Filter bank Performance loss Discrete transforms computational complexity

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An Iterative Fuzzy Segmentation Algorithm for Recognizing an Odor Source in Near Shore Ocean Environments

An Iterative Fuzzy Segmentation Algorithm for Recognizing an...

引用

ieee International symposium on computational intelligence in Robotics and Automation (CIRA)

作者： Wei Li Computer Science Department California State University Bakersfield Bakersfield CA USA

A mission of chemical plume tracing (CPT) in near-shore and ocean environments is to navigate an autonomous underwater vehicle (AUV) to find a chemical plume, to trace the plume to its source, and to declare the source location. It is necessary to recognize the declared odor source by using a visual system. Color images, which were taken in near-shore ocean environments when the source was declared, are very vague due to dim illumination conditions and fluid advection effects. This paper presents an iterative fuzzy segmentation (IFS) algorithm for extracting color components of the chemical plume and the odor source for visual confirmation of the correct declared odor source. The proposed approach might be of general interest in image processing and computer vision.

关键词： Iterative algorithms Oceans Chemicals Color Navigation Underwater vehicles Position measurement Visual system Lighting image segmentation

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Multiscale bandelet image compression

Multiscale bandelet image compression

引用

ieee International symposium on Intelligent signal processing and Communication Systems (ISPACS)

作者： Shuyuan Yang Fan Liu Min Wang Licheng Jiao Institute of Intelligence Information Processing National laboratory of Radar signal processing Department of Electrical Engineering Xidian University Xi'an China

The estimation of basis shapes, the partition of image and the optimization of geometric flows are three key issues in the implementation of the second Bandelets proposed by peyer. Compared with other polynomial geometric flows, linear geometric flows are commonly used because of its simplest structure and least parameters to store. However, the actual structure of edges and contours can only be considered as lines in a local region. So the size of partition blocks should be small so as to the geometric regularities in each block can be approximated as linear. The geometric regularities mainly appear in the high frequency subbands of images, so in this paper we proposed a multi-scale Bandelet transform based on complete wavelet packet decomposition. And a fixed size of image partition is employed in each high frequency subbands. In relative to the second generation Bandelet, it has quick implementation and comparable performance.

关键词： image coding image edge detection Wavelet packets Radar signal processing Polynomials Frequency image representation Anisotropic magnetoresistance Geometry Information processing

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A Multi-layer neural network and an adaptive linear combiner for on-line harmonic tracking

A Multi-layer neural network and an adaptive linear combiner...

引用

ieee International symposium on Intelligent signal processing

作者： Abdelaziz Zouidi Farhat Fnaiech Kamal Al-Haddad Equipe de recherche: Signal Image et Commande Intelligente des Systemes Industriels Université de Tunis Ecole Supérieure des Sciences et Techniques de Tunis Tunis Tunisia Canada Research Chair in Energy Conversion and Power Electronics CRC-ECPE Ecole de Technologie Superieure Montreal QUE Canada

ISBN: (纸本)1424408296;97

Intelligent techniques of harmonic detection or estimation are nowadays of a great interest in power system applications, their ability to deal with high non-linearities attract researchers to investigate the performance of these methods mainly based on artificial intelligence namely using artificial neural networks. In the literature many harmonic detection or estimation methods were presented, in this paper we focus on a new idea to apply an adaptive linear neuron (ADALINE) and a multi-layer artificial neural net work (M-LANN) to estimate the fundamental component and the total harmonic content of a distorted signal.

关键词： Multi-layer neural network Adaptive systems Power harmonic filters Power system harmonics Artificial neural networks Artificial intelligence Harmonic distortion Neurons Intelligent networks Adaptive signal detection

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3D-5 Parameter Estimation of the Homodyned K Distribution Based on signal to Noise Ratio

3D-5 Parameter Estimation of the Homodyned K Distribution Ba...

引用

ieee symposium (IUS) Ultrasonics

作者： M. Martin-Fernandez R. Cardenes C. Alberola-Lopez Image Processing Laboratory (LPI) Universidad de Valladolid Valladolid Spain

The Homodyned K (H-K) distribution is very important in Ultrasound (US) imaging because it models the speckle in a general way, even if the number of scatterers per resolution cell is low and if a coherent component exists. Due to the analytical complexity of this distribution, only a few works based on the H-K have been reported and other simpler distributions have been used instead. Here we provide evidence that, once we have the signal to noise ratio (SNR) from a set of parameters of the H-K distribution, we can estimate the parameters of any given sample set in an easy computational way. In addition, we present a validation study for our estimation procedure.

关键词： Parameter estimation signal to noise ratio Rayleigh scattering Speckle Scattering parameters Ultrasonic imaging signal resolution image processing Laboratories image resolution

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image fusion using a NSDFB-based contourlet packet

Image fusion using a NSDFB-based contourlet packet

引用

ieee International symposium on Intelligent signal processing and Communication Systems (ISPACS)

作者： Shuyuan Yang Min Wang ZhanWen Liu Licheng Jiao Institute of Intelligence Information Processing National laboratory of Radar signal processing Department of Electrical Engineering Xidian University Xi'an China

In this paper, a new contourlet packet (CP) is constructed based on a complete wavelet quadtree followed by a nonsubsampled directional filter bank (NSDFB). By combing the finer approximation characteristic of wavelet packet with the invertible characteristic of NSDFB, the proposed CP can give more accurate reconstruction of images than WP. After the proposed CP transform on the fusing images, the low-frequency subbands are compared to preserve the coefficients whose module are minimum, local inner-product rule is performed on the high-frequency subbands of the images. Then the fusion image can be obtained by taking an inverse CP transform. The experiment results show the superiority of the method to Contourlet, Wavelet packet, NSCT, stationary Wavelet, complex wavelet and WBCP based fusion methods, both in image clarity and standard deviation, information entropy, average gradient, average cross

关键词： image fusion Wavelet packets Filter bank Wavelet transforms Frequency conversion Radar signal processing Computed tomography Information processing Laboratories image reconstruction

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Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot

Development of Visual Simultaneous Localization and Mapping ...

引用

ieee International symposium on computational intelligence in Robotics and Automation (CIRA)

作者： Dennis Krys Homayoun Najjaran IRC-NRC Ottawa ONT Canada School of Engineering University of British Columbia Kelowna BC Canada

This paper describes a visual simultaneous localization and mapping (VSLAM) method for a pipe inspection robot that can serve as a carrier for nondestructive testing (NDT) sensors inside in-service water mains. The proposed method features a multi-sensor fusion system that simultaneously executes two important functions of the robot: construct a global image of the internal surface of the pipe and provide the location of the NDT sensors. The fusion involves a synergy between image mosaicing and dead reckoning. More precisely, the sequential images of a digital camera are stitched together with the help of an inertial navigation system (INS). In the proposed model, the processing load of image mosaicing is reduced significantly, and at the same time the accumulation of error of the INS is prevented. The functionality of the model is verified using a simulator that mimics the motion of a pipe inspection robot inside a water main.

关键词： Simultaneous localization and mapping Inspection Robot sensing systems Sensor phenomena and characterization Nondestructive testing image sensors Sensor fusion Sensor systems Dead reckoning Digital cameras

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