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检索条件"任意字段=27th Conference on Intelligent Robots and Computer Vision: Algorithms and Techniques"

共 120 条记录，以下是11-20 订阅

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Improved single-camera stereo system for mobile robotics

Improved single-camera stereo system for mobile robotics

引用

27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Lovegrove, William P. McGary, Patrick D. Austin, Kelly Bob Jones Univ Greenville SC 29614 USA

ISBN: (纸本)9780819479327

A single-camera stereo vision system offers a greatly simplified approach to image capture and analysis. In the original study by Lovegrove and Brame, they proposed a novel optical system that uses a single camera to capture two short, wide stereo images that can then be analyzed for real-time obstacle detection. In this paper, further analysis and refinement of the optical design results in two virtual cameras with perfectly parallel central axes. A new prototype camera design provides experimental verification of the analysis and also provides insight into practical construction. the experimental device showed that the virtual cameras' axes possessed a deviation from parallel of less than 12 minutes (or 0.2 degrees). the calculation of distances to objects from the two overlapping images all showed errors smaller than the pixel resolution limitation. In addition, a barrel lens correction was used in processing the image to allow parallax distance determination in the whole horizontal view of the images.

关键词： stereo vision single camera stereo pair mobile robot obstacle detection computer vision

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the Design and Results of an Algorithm for intelligent Ground Vehicles

The Design and Results of an Algorithm for Intelligent Groun...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Duncan, Matthew Milam, Justin Tote, Caleb Riggins, Robert N. Bluefield State Coll Bluefield WV USA

ISBN: (纸本)9780819479327

this paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. the Bluefield State College (BSC) team created this algorithm for its 2009 intelligent Ground Vehicle Competition (IGVC) robot called Anassa V. the BSC robotics team is comprised of undergraduate computer science, engineering technology, marketing students, and one robotics faculty advisor. the team has participated in IGVC since the year 2000. A major part of the design process that the BSC team uses each year for IGVC is a fully documented "Post-IGVC Analysis." Over the nine years since 2000, the lessons the students learned from these analyses have resulted in an ever-improving, highly successful autonomous algorithm. the algorithm employed in Anassa V is a culmination of past successes and new ideas, resulting in Anassa V earning several excellent IGVC 2009 performance awards, including third place overall. the paper will discuss all aspects of the design of this autonomous robotic system, beginning with the design process and ending with test results for both simulation and real environments.

关键词： Robot intelligent Ground Vehicle Sensor Integration vision System Mapping IGVC Path Planning

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Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

Synchronizing real and predicted synthetic video imagery for...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Lyons, Damian M. Chaudhry, Sirhan Benjamin, D. Paul Fordham Univ Robot & Comp Lab Bronx NY 10458 USA PACE Univ Dept Comp Sci New York NY 10023 USA

ISBN: (纸本)9780819479327

A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In previous work, we presented an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduced an approach to compare real and simulated imagery using an affine image transformation that maps the real scene to the synthetic scene in a robust fashion. In this paper, we present an approach to continually synchronize the real and synthetic video by mapping the affine transformation yielded by the real/synthetic image comparison to a new pose for the synthetic camera. We show a series of results for pairs of real and synthetic scenes containing objects including similar and different scenes.

关键词： Cognitive robotics robot simulation synthetic video motion detection computer vision robot localization

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Modeling of radial asymmetry in lens distortion facilitated by modern optimization techniques

Modeling of radial asymmetry in lens distortion facilitated ...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： de Villiers, Jason P. Leuschner, F. Wilhelm Geldenhuys, Ronelle CSIR Meiring Naude Rd Pretoria South Africa Univ Pretoria Dept Elect Elect & Comp Engn Pretoria South Africa

ISBN: (纸本)9780819479327

Most current lens distortion models use only a few terms of Brown's model, which assumes that the radial distortion is dependant only on the distance from the distortion centre, and an additive tangential distortion can be used to correct lens de-centering. this paper shows that the characterization of lens distortion can be improved by over 79% compared to prevailing methods. this is achieved by using modern numerical optimization techniques such as the Leapfrog algorithm, and sensitivity-normalized parameter scaling to reliably and repeatably determine more terms for Brown's model. An additional novel feature introduced in this paper is to allow the distortion to vary not only with polar distance but with the angle too. Two models for radially asymmetrical distortion (i.e. distortion that is dependant on both polar angle and distance) are discussed, implemented and contrasted to results obtained when no asymmetry is modelled. A sample of 32 cameras exhibiting extreme barrel distortion (due to their 6.0mm focal lengths) is used to show that these new techniques can straighten lines to within 7 hundredths of a pixel RMS over the entire image.

关键词： Asymmetry numerical optimization distortion characterization real-time

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Robust Pipeline Localization for an Autonomous Underwater Vehicle using Stereo vision and Echo Sounder Data

Robust Pipeline Localization for an Autonomous Underwater Ve...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Breivik, Goril M. Fjerdingen, Sigurd A. Skotheim, Oystein SINTEF N-0314 Oslo Norway

ISBN: (纸本)9780819479327

Submarine oil and gas pipeline inspection is a highly time and cost consuming task. Using an autonomous underwater vehicle (AUV) for such applications represents a great saving potential. However, the AUV navigation system requires reliable localization and stable tracking of the pipeline position. We present a method for robust pipeline localization relative to the AUV in 3D based on stereo vision and echo sounder depth data. When the pipe is present in both camera images, a standard stereo vision approach is used for localization. Enhanced localization continuity is ensured using a second approach when the pipe is segmented out in only one of the images. this method is based on a combination of one camera with depth information from the echo sounder mounted on the AUV. In the algorithm, the plane spanned by the pipe in the camera image is intersected with the plane spanned by the sea floor, to give the pipe position in 3D relative to the AUV. Closed water recordings show that the proposed method localizes the pipe with an accuracy comparable to that of the stereo vision method. Furthermore, the introduction of a second pipe localization method increases the true positive pipe localization rate by a factor of four.

关键词： stereo vision echo sounder autonomous underwater vehicle AUV robust localization pipe inspection robot vision scene analysis

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LandingNav: A precision autonomous landing sensor for robotic platforms on planetary bodies

LandingNav: A precision autonomous landing sensor for roboti...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Katake, Anup Bruccoleri, Christian Singla, Puneet Junkins, John L. StarVis Technol Inc 400 Harvey Mitchell Pkwy SSuite 400 College Stn TX 77845 USA Univ Buffalo Dept Mech & Aerosp Engn Buffalo NY USA Texas A&M Univ Dept Aerosp Engn College Stn TX 77843 USA

ISBN: (纸本)9780819479327

Increased interest in the exploration of extra terrestrial planetary bodies calls for an increase in the number of spacecraft landing on remote planetary surfaces. Currently, imaging and radar based surveys are used to determine regions of interest and a safe landing zone. the purpose of this paper is to introduce LandingNav, a sensor system solution for autonomous landing on planetary bodies that enables landing on unknown terrain. LandingNav is based on a novel multiple field of view imaging system that leverages the integration of different state of the art technologies for feature detection, tracking, and 3D dense stereo map creation. In this paper we present the test flight results of the LandingNav system prototype. Sources of errors due to hardware limitations and processing algorithms were identified and will be discussed. this paper also shows that addressing the issues identified during the post-flight test data analysis will reduce the error down to 1-2%, thus providing for a high precision 3D range map sensor system.

关键词： autonomous planetary landing stereo vision terrain mapping dense range map estimation localization

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CONVEX SHAPE REFINEMENT USING DYNAMIC-PROGRAMMING FOR SURFACE DEFECT CLASSIFICATION ON WOODEN MATERIALS 12

CONVEX SHAPE REFINEMENT USING DYNAMIC-PROGRAMMING FOR SURFAC...

引用

12th conference on intelligent robots and computer vision: algorithms and techniques

作者： POLZLEITNER, W JOANNEUM RES A-8010 GRAZAUSTRIA

this paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic program... 详细信息

ISBN: (纸本)0819413208

关键词： computer programming Evolutionary algorithms computer vision technology Machine vision Robot vision robots Fuzzy logic Information operations Inspection Pattern recognition

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NEW ENTROPY OPERATOR FOR EDGE ABSTRACTION 12

NEW ENTROPY OPERATOR FOR EDGE ABSTRACTION

引用

12th conference on intelligent robots and computer vision: algorithms and techniques

作者： XIE, XH TIAN, XQ LUO, LM SOUTHEAST UNIV DEPT BIOMED ENGNNANJING 210018PEOPLES R CHINA

ISBN: (纸本)0819413208

this paper presents a new exponential behavior based entropy operator for extracting image edges. Edges can be detected by computing the entropy of brightness or hue in a local region of a picture. the entropy depends not only on the rate of change of brightness or hue, but also on the average brightness or hue. the experimental result verifies the efficiency of the new entropy operator.

关键词： Edge detection computer vision technology Image processing Machine vision Computing systems Image filtering Image segmentation Robot vision robots Image information entropy

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AUTOMATIC INSPECTION OF ELECTRONIC SURFACE-MOUNT ASSEMBLIES 12

AUTOMATIC INSPECTION OF ELECTRONIC SURFACE-MOUNT ASSEMBLIES

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12th conference on intelligent robots and computer vision: algorithms and techniques

作者： FORTE, P BROWN, G BARNWELL, P MALYAN, R NEthERWOOD, P KINGSTON UNIV SCH COMP SCI & ELECTR SYSTKINGSTON THAMES KT1 2EESURREYENGLAND

An approach to image analysis is described consisting of five stages: edge detection, thresholding, linking, shape description and shape abstraction. the approach is illustrated by applying the steps to the problem of... 详细信息

ISBN: (纸本)0819413208

关键词： Inspection computer vision technology Machine vision Edge detection Robot vision robots Image analysis Image segmentation Shape analysis Telecommunications

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LOCATING FACIAL FEATURES FOR AGE CLASSIFICATION 12

LOCATING FACIAL FEATURES FOR AGE CLASSIFICATION

引用

12th conference on intelligent robots and computer vision: algorithms and techniques

作者： KWON, YH LOBO, ND UNIV CENT FLORIDA DEPT COMP SCIORLANDOFL 32816

ISBN: (纸本)0819413208

In this paper, we outline computations for visual age classification from facial images. For now, input images can only be classified into one of three age-groups: babies, adults, and senior adults. the computations are based on cranio-facial development theory, and wrinkle analysis. In the implementation, first primary features of the face are found, followed by secondary feature analyses. Preliminary results with real data are presented.

关键词： Mouth Eye Nose Iris computer vision technology Head Machine vision robots Robot vision Image classification

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