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

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

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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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ACQUISITION OF RANGE IMAGES IN AN INTEGRATED vision SYSTEM ENVIRONMENT 12

ACQUISITION OF RANGE IMAGES IN AN INTEGRATED VISION SYSTEM E...

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

作者： WANI, MA BATCHELOR, BG UNIV WALES COLL CARDIFF COLL CARDIFFCARDIFF CF1 3NSS GLAMWALES

ISBN: (纸本)0819413208

the paper presents a simple laser based triangulation system to acquire range images. the problems of high speed serpentine/raster scanning and sensor-output bottle-neck are addressed here by using a thin plane fan of laser light, and a linear variable neutral density filter. It also proposes a Prolog based integrated vision system environment for acquisition, processing, and understanding of range images.

关键词： Image processing System integration Sensors Cameras Fluctuations and noise Machine vision Optical filtering computer vision technology Data acquisition robots

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the 15^th Annual intelligent Ground Vehicle Competition:: intelligent ground robots created by intelligent students

The 15<SUP>th</SUP> Annual Intelligent Ground Vehicle Compet...

引用

conference on intelligent robots and computer vision XXV - algorithms, techniques, and Active vision

作者： theisen, Bernard L. USA Tank Automotive Res Ctr Dev & Engn Warren MI 48397 USA

ISBN: (纸本)9780819469243

the intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. the IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 15 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. this paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. the primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. the employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles engineering education IGVC

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Color Image Processing for Date Quality Evaluation

Color Image Processing for Date Quality Evaluation

引用

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

作者： Lee, Dah-Jye Archibald, James K. Brigham Young Univ Provo UT 84602 USA

ISBN: (纸本)9780819479327

Many agricultural non-contact visual inspection applications use color image processing techniques because color is often a good indicator of product quality. Color evaluation is an essential step in the processing and inventory control of fruits and vegetables that directly affects profitability. Most color spaces such as RGB and HSV represent colors with three-dimensional data, which makes using color image processing a challenging task. Since most agricultural applications only require analysis on a predefined set or range of colors, mapping these relevant colors to a small number of indexes allows simple and efficient color image processing for quality evaluation. this paper presents a simple but efficient color mapping and image processing technique that is designed specifically for real-time quality evaluation of Medjool dates. In contrast with more complex color image processing techniques, the proposed color mapping method makes it easy for a human operator to specify and adjust color-preference settings for different color groups representing distinct quality levels. Using this color mapping technique, the color image is first converted to a color map that has one color index represents a color value for each pixel. Fruit maturity level is evaluated based on these color indices. A skin lamination threshold is then determined based on the fruit surface characteristics. this adaptive threshold is used to detect delaminated fruit skin and hence determine the fruit quality. the performance of this robust color grading technique has been used for real-time Medjool date grading.

关键词： machine vision color mapping color grading Medjool date non-contact visual inspection

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Comparison of three Control Methods for an Autonomous Vehicle

Comparison of Three Control Methods for an Autonomous Vehicl...

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

作者： Deshpande, Anup Mathur, Kovid Hall, Ernest Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)9780819479327

the desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate the search for an optimum solution to computer control of energy efficient vehicles. the purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. the output from a 3 axis motion controller is used for this purpose. the motion controller is interfaced with a software program and WSDK (Windows Servo Design Kit) serves as an intermediate tuning layer for tuning and parameter settings in autonomous operation. the software program is developed in C++ and the voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. the vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. the vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. the vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. the significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety skills.

关键词： intelligent autonomous vehicle electrical control hydraulic control mechanical control human interface

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VLSI DESIGN OF A DYNAMIC NEURAL PROCESSOR FOR vision APPLICATIONS 12

VLSI DESIGN OF A DYNAMIC NEURAL PROCESSOR FOR VISION APPLICA...

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

作者： GUPTA, MM HOCKLEY, D UNIV SASKATCHEWAN COLL ENGNINTELLIGENT SYST RES LABSASKATOON S7N 0W0SASKATCHEWANCANADA

ISBN: (纸本)0819413208

A programmable dynamic neuron with a biologically motivated design has been implemented using analog current-mode techniques. the circuit can exhibit several different processing modes with only slight adjustment in the model parameters. the relevant parameters are varied using electronically modifiable current mirrors. the circuit is very compact, and requires only around 20 transistors. In addition the circuit can be configured as a traditional neuron simply by leaving the sampling switches closed. the initial design allows that all the model parameters can be adjusted. Presently the dynamic neuron is restricted to only the nearest neighborhood connections on a chip, but this lack of connectivity can be alleviated by adopting a multiple chip processing scheme in a pyramidal architecture.

关键词： Neurons Transistors Mirrors Machine vision Switches computer vision technology Robot vision robots Visual process modeling computer simulations

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ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN computer vision 12

ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN COMPUTER...

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

作者： FARAG, AA WANG, B UNIV LOUISVILLE DEPT ENGN MATH & COMP SCILOUISVILLEKY 40292

ISBN: (纸本)0819413208

In this paper, a number of spatial/spatial-frequency image representations are reviewed. Wavelets have recently generated much interest, both in applied areas as well as in more theoretical ones. Wavelet tranlorm relative to some basic wavelets, provides aflexible time-frequency window which automatically narrows when observing high frequency phenomena and widens when studying lowfrequency environments. As a result, it is suitablefor visual information representation. Applications in computer vision such as image compression and image enhancement are examined. © 1993 SPIE.

关键词： Image representation

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intelligent CONTROL OF ROBOTIC PAINT STRIPPING USING COLOR-vision FEEDBACK 12

INTELLIGENT CONTROL OF ROBOTIC PAINT STRIPPING USING COLOR-V...

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

作者： HARVEY, DN ROGERS, TW MTS SYST CORP EDEN PRAIRIEMN 55344

ISBN: (纸本)0819413208

A robotic work cell for stripping paint from both large and small aircraft is currently under development at Pratt & Whitney - Waterjet Systems (formerly USBI Co., Advanced Programs). the primary objectives for this system are to reduce the time required to strip an aircraft, improve the quality and consistency of the stripping operation, and reduce the need for environmentally objectionable stripping processes such as chemical methods. One of the keys to the overall success of this automated paint stripping system is the integration of a sensor that will provide for adaptive process control. this sensor must be able to indicate when a layer of paint has been completely stripped from the aircraft, and measure the approximate size of any remaining unstripped patches. the sensor should also be able to indicate when surface roughening is occurring on the material beneath the paint.

关键词： Sensors Machine vision Process control Video RGB color model Cameras Robotics robots Color vision computer vision technology

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NEURAL-NET SELECTION MEthODS FOR GABOR TRANSFORM DETECTION FILTERS 12

NEURAL-NET SELECTION METHODS FOR GABOR TRANSFORM DETECTION F...

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

作者： CASASENT, D SMOKELIN, JS CARNEGIE MELLON UNIV CTR EXCELLENCE OPT DATA PROCPITTSBURGHPA 15213

ISBN: (纸本)0819413208

New Gabor transform (GT) filters to detect candidate object locations independent of the object class, object distortions, and for low contrast objects in clutter are described. A new neural network (NN) technique is described to automate selection of GT parameters and to combine multiple Gabor functions (GFs) into once composite macro GF detection filter. Fusion of real and imaginary GT filter outputs is used to reduce false alarms, (P_FA), while maintaining high detection rates (P_D). Test results on the TRIM-2 database are provided.

关键词： Image filtering Neural networks Target detection computer vision technology Machine vision Robot vision robots Edge detection Evolutionary algorithms Databases

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On-Line Measurement of Ski-Jumper trajectory: combining Stereo vision and Shape Description

On-Line Measurement of Ski-Jumper trajectory: combining Ster...

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

作者： Nunner, T. Sidla, O. Paar, G. Nauschnegg, B. Joanneum Res Inst Digital Image Proc Wastiangasse 6 A-8010 Graz Austria SLR Engn EU A-8010 Graz Austria

ISBN: (纸本)9780819479327

Ski jumping has continuously raised major public interest since the early 70s of the last century, mainly in Europe and Japan. the sport undergoes high-level analysis and development, among others, based on biodynamic measurements during the take-off and flight phase of the jumper. We report on a vision-based solution for such measurements that provides a full 3D trajectory of unique points on the jumper's shape. During the jump synchronized stereo images are taken by a calibrated camera system in video rate. Using methods stemming from video surveillance, the jumper is detected and localized in the individual stereo images, and learning-based deformable shape analysis identifies the jumper's silhouette. the 3D reconstruction of the trajectory takes place on standard stereo forward intersection of distinct shape points, such as helmet top or heel. In the reported study, the measurements are being verified by an independent GPS measurement mounted on top of the Jumper's helmet, synchronized to the timing of camera exposures. Preliminary estimations report an accuracy of +/-20 cm in 30 Hz imaging frequency within 40m trajectory. the system is ready for fully-automatic on-line application on ski-jumping sites that allow stereo camera views with an approximate base-distance ratio of 1: 3 within the entire area of investigation.

关键词： ski-jumping active-shape-model calibration stereo-reconstruction online-tracking Eigenshape GPS

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