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

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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...

引用

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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Engineering Robust intelligent robots

Engineering Robust Intelligent Robots

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

作者： Hall, E. L. Ali, S. M. Alhaj Ghaffari, M. Liao, X. Cao, M. Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Jordanstown North Ireland

ISBN: (纸本)9780819479327

the purpose of this paper is to discuss the challenge of engineering robust intelligent robots. Robust intelligent robots may be considered as ones that not only work in one environment but rather in all types of situations and conditions. Our past work has described sensors for intelligent robots that permit adaptation to changes in the environment. We have also described the combination of these sensors with a "creative controller" that permits adaptive critic, neural network learning, and a dynamic database that permits task selection and criteria adjustment. However, the emphasis of this paper is on engineering solutions which are designed for robust operations and worst case situations such as day night cameras or rain and snow solutions. this ideal model may be compared to various approaches that have been implemented on "production vehicles and equipment" using Ethernet, CAN Bus and JAUS architectures and to modern, embedded, mobile computing architectures. Many prototype intelligent robots have been developed and demonstrated in terms of scientific feasibility but few have reached the stage of a robust engineering solution. Continual innovation and improvement are still required. the significance of this comparison is that it provides some insights that may be useful in designing future robots for various manufacturing, medical, and defense applications where robust and reliable performance is essential.

关键词： intelligent robots robust engineering eclecticism creative control reinforcement learning adaptive critic

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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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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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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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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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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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Argos: Princeton University's Entry in the 2009 intelligent Ground Vehicle Competition

Argos: Princeton University's Entry in the 2009 Intelligent ...

引用

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

作者： Abiola, Solomon O. Baldassano, Christopher A. Franken, Gordon H. Harris, Richard J. Hendrick, Barbara A. Mayer, Jonathan R. Partridge, Brenton A. Starr, Eric W. Tait, Alexander N. Yu, Derrick D. Zhu, Tony H. Princeton Univ Sch Engn & Appl Sci Princeton NJ 08544 USA

ISBN: (纸本)9780819479327

In this paper, we present Argos, an autonomous ground robot built for the 2009 intelligent Ground Vehicle Competition (IGVC). Discussed are the significant improvements over its predecessor from the 2008 IGVC, Kratos. We continue to use stereo vision techniques to generate a cost map of the environment around the robot. Lane detection is improved through the use of color filters that are robust to changing lighting conditions. the addition of a single-axis gyroscope to the sensor suite allows accurate measurement of the robot's yaw rate and compensates for wheel slip, vastly improving state estimation. the combination of the D* Lite algorithm, which avoids unnecessary re-planning, and the Field D* algorithm, which allows us to plan much smoother paths, results in an algorithm that produces higher quality paths in the same amount of time as methods utilizing A*. the successful implementation of a crosstrack error navigation law allows the robot to follow planned paths without cutting corners, reducing the chance of collision with obstacles. A redesigned chassis with a smaller footprint and a bi-level design, combined with a more powerful drivetrain, makes Argos much more agile and maneuverable compared to its predecessor. At the 2009 IGVC, Argos placed first in the Navigation Challenge.

关键词： robotics IGVC stereo vision lane detection IPC Kalman Filter cost map path planning

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NEW ENTROPY OPERATOR FOR EDGE ABSTRACTION 12

NEW ENTROPY OPERATOR FOR EDGE ABSTRACTION

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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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