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

共 123 条记录，以下是71-80 订阅

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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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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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Handling of Split-and-Merge Effects and Occlusions using Feature-Based Probabilistic Data Association

Handling of Split-and-Merge Effects and Occlusions using Fea...

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

作者： Grinberg, Michael Ohr, Florian Fraunhofer Inst Informat & Data Proc IITB D-761313 Karlsruhe Germany

ISBN: (纸本)9780819479327

One of the big challenges in multi-target tracking is the track management and correct data association between measurements and tracks. Major reason for tracking errors are detection failures such as merged, split, incomplete or missed detections as well as clutter-based detections ( phantom objects). those effects combined with uncertainties in existence and number of objects in the scene as well as uncertainties in their observability and dynamic object state lead to gross tracking errors. In this contribution we present an algorithm for visual detection and tracking of multiple extended targets which is capable of coping with occlusions and split and merge effects. Unlike most of the state-of-the-art approaches we utilize information about the measurements' composition gained through tracking dedicated feature points in the image and in 3D space, which allows us to reconstruct the desired object characteristics from the data even in the case of detection errors due to above-mentioned reasons. the proposed Feature-Based Probabilistic Data Association approach resolves data association ambiguities in a soft threshold-free decision based not only on target state prediction but also on the existence and observability estimation modeled as two additional Markov chains. A novel measurement reconstruction scheme allows for a correct innovation in case of split, merged and incomplete measurements realizing thus a detection-by-tracking approach. this process is assisted by a grid based object representation which offers a lower abstraction level of targets extent and is used for detailed occlusion analysis.

关键词： multitarget tracking 9MTT) feature-based tracking track-before-detect detection-by-tracking probabilistic data association point tracking 6D-vision split and merge handling occlusion handling stereo video environment perception

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Multi-agent control architecture for large scale multi-robot system

Multi-agent control architecture for large scale multi-robot...

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27th IASTED International conference on Modelling, Identification, and Control

作者： Baglietto, Marco Cannata, Giorgio Capezio, Francesco Grosso, Alberto Sgorbissa, Antonio Zaccaria, Renato Department of Communication Computer and System Sciences Via all'Opera Pia 13 16145 Genova Italy

ISBN: (纸本)9780889867116

As research progresses in distributed robotic systems, more and more aspects of multi-robot systems are being explored. this dissertation focuses on multi-robot control systems and provides the model of an agent-based control architecture following the research that is ongoing in the field of distributed mobile robot systems. In this work, the agent technology is proposed as a possible approach to the design of multi-robot systems. Autonomous agents, or sometimes called intelligent agents, can effectively combine all the advantages of distributed systems with advanced robot control support and artificial intelligence techniques. the coordination of the multi-robot system is based on agent interaction and negotiation, and a communication infrastructure based on open web standards is provided. this paper is the result of the work done within the ROBOSWARM European Project.

关键词： Multipurpose robots

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

The 15th Annual Intelligent Ground Vehicle Compet...

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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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the 14^th Annual intelligent Ground Vehicle Competition:: intelligent teams creating intelligent ground robots

The 14TH Annual Intelligent Ground Vehicle Compet...

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

作者： theisen, Bernard L. Nguyen, Dmitri US Army Tank Automot Res Dev & Engn Ctr 6501 E Eleven Mile Rd Warren MI 48397 USA

ISBN: (纸本)0819464821

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 14 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 three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

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

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Stereo Analysis Extension Based on BRDF Reciprocity

Stereo Analysis Extension Based on BRDF Reciprocity

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International conference on Electronics, Communications and computers (CONIELECOMP)

作者： A. Morales-Reyes M. Arias-Estrada Optics and Electronics Computer Science Department National Institute for Astrophysics Optics and Electronics Tonantzintla Puebla Mexico

this paper presents an extension of the binocular technique which considers reciprocal reflectance of surfaces. this particular property allows to recover depth information for surfaces where others stereo techniques failed, for example, textureless and highly specular surfaces. the consideration of an arbitrary BRDF (Bidirectional Reflectance Distribution Function) improves conventional stereo algorithms, in such a way that explicit or implicit assumptions about a reflectance function are not necessary and dense depth maps are obtained. Fixed specularities and correspondence between half-occluded regions reduce processing complexity which is an important advantage of this methodology. this paper provides a general geometry assembly to this approach extending its applicability to some specific areas where accurate depth measures are required. Several results from our implementation are shown using rendered ray-tracing stereo images.

关键词： Reflectivity Surface texture Stereo vision Lighting Rendering (computer graphics) Ray tracing intelligent robots Quality control Biomedical imaging Layout

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the 12^th annual intelligent ground vehicle competition:: Team approaches to intelligent vehicles

The 12TH annual intelligent ground vehicle compet...

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

作者： theisen, BL Maslach, D USA Tank Automat Res Dev & Engn Ctr Warren MI 48397 USA

ISBN: (纸本)081945561X

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. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 12 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 43 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 three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

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

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Active learning for robot manipulation 16

Active learning for robot manipulation

引用

16th European conference on Artificial Intelligence, ECAI 2004

作者： Morales, Antonio Chinellato, Eris Fagg, Andrew H. Del Pobil, Angel P. Intelligent Robotics Lab. Univertitat Jaume I Castellon Spain Computer Science Department University of Massachusetts AmherstMA United States

ISBN: (纸本)9781586034528

this paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible grasps and to execute any of them and measure their actual reliability. An algorithm aimed at predicting the performance of an untested grasp using the results observed on previous similar attempts is presented. the previous experience is stored using a set of vision-based grasp descriptors. Moreover, a second algorithm that actively selects the next grasp to be executed in order to improve the predictive quality of the accumulated experience is introduced. An exhaustive database of experimental data is collected and used to test and validate both algorithms.

关键词： Anthropomorphic robots

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the 11^th Annual intelligent Ground Vehicle Competition:: team approaches to intelligent driving and machine vision

The 11TH Annual Intelligent Ground Vehicle Compet...

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conference on intelligent robots and computer vision XXI

作者： theisen, BL Lane, GR USA Tank Automot ResDev & Engn Ctr Warren MI USA

ISBN: (纸本)081945155X

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. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 11 years, the competition has challenged both undergraduates and graduates, including Ph.D. students with real world applications in intelligent transportation systems, the military, and manufacturing automation. To date, teams from over 40 universities and colleges have participated. In this paper, we describe some of the applications of the technologies required by this competition, and discuss 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 three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

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

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