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共 362 条记录，以下是71-80 订阅

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ICRSA 2023 - conference Proceedings: 2023 6th International conference on robot Systems and Applications

ICRSA 2023 - Conference Proceedings: 2023 6th International ...

引用

6th International conference on robot Systems and Applications, ICRSA 2023

ISBN: (纸本)9798400708039

the proceedings contain 50 papers. the topics discussed include: the Kinect-based robot environment perception system;monocular vision based target localization method for rose picking robot;real-time robot trajectory correction through computer vision: a welding application in the automotive industry;a fuzzy control scheme for asymptotic command tracking of self-balancing robots;ROS-based augmented and virtual reality path planning interface for industrial robotic arms: a preliminary assessment;bird’s nest detection in power transmission lines with fusion of attention and multi-scale features;a panoramic review of situational awareness monitoring systems;end to end single image fog removal through a cycle consistent adversarial network guided by an assist network: test on synthetic data sets and real fog images for example;and study on the traveling performance in the diagonal direction for the wheel-walking rover.

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Collaborative Perception in Multi-robot Systems: Case Studies in Household Cleaning and Warehouse Operations 6

Collaborative Perception in Multi-Robot Systems: Case Studie...

引用

6th International conference on robotics and computer vision, ICRCV 2024

作者： Nair, Bharath Rajiv Columbia University Dept. of Mechanical Engineering New York United States

ISBN: (纸本)9798331527426

this paper explores the paradigm of Collaborative Perception (CP), where multiple robots and sensors in the environment share and integrate sensor data to construct a comprehensive representation of the surroundings. By aggregating data from various sensors and utilizing advanced algorithms, the collaborative perception framework improves task efficiency, coverage, and safety. Two case studies are presented to showcase the benefits of collaborative perception in multi-robot systems. the first case study illustrates the benefits and advantages of using CP for the task of household cleaning with a team of cleaning robots. the second case study performs a comparative analysis of the performance of CP versus Standalone Perception (SP) for Autonomous Mobile robots operating in a warehouse environment. the case studies validate the effectiveness of CP in enhancing multi-robot coordination, task completion, and overall system performance and its potential to impact operations in other applications as well. Future investigations will focus on optimizing the framework and validating its performance through empirical testing. © 2024 IEEE.

关键词： Multipurpose robots

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Spatial topology graphs for feature-minimal correspondence

Spatial topology graphs for feature-minimal correspondence

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4th canadian conference on computer and robot vision

作者： Tauber, Zinovi Li, Ze-Nian Drew, Mark S. Simon Fraser Univ Sch Comp Sci Burnaby BC V5A 1S6 Canada

ISBN: (纸本)9780769527864

Multiview image matching methods typically require feature point correspondences. We propose a novel spatial-topology method that represents the space with a set of connected projective invariant-features. Typically, isolated features, such as corners, cannot be matched reliably. Hence, limitations are imposed on viewpoint changes, or projective invariant descriptions are needed. the fundamental matrix is discovered using stochastic optimization requiring a large number of features. In contrast, our enhanced feature set models connectivity in space, forming a unique configuration that can be matched with few features and over large viewpoint changes. Our features are derived from edges, their curvatures, and neighborhood relationships. A probabilistic spatial topology graph models the space using these features and a second graph represents the neighborhood relationships. Probabilistic graph matching is used to find feature correspondences. Our results show robust feature detection and an average 80% discovery rate of feature matches.

关键词： Feature extraction

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Design and modeling of omni-directional vision system applied in autonomous soccer robot

Design and modeling of omni-directional vision system applie...

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6th International conference on Intelligent Systems Design and Applications (ISDA 2006)

作者： Wang, Yu Wang, Yong Xu, Xinhe Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Peoples R China N China Elect Power Univ Dept Automat Beijing 102206 Peoples R China Changchun Inst Technol Changchun 130012 Peoples R China

ISBN: (纸本)0769525288

the autonomous soccer robot with conventional vision cameras has limited fields of view which can be overcome by Moving the robot, thus increasing the control difficulty. A omni-directional vision system uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. this paper introduced study on omni-directional vision system applied in autonomous soccer robot and its imaging model. Mirror parameters of omni-directional vision sensor were designed using condition and equation of single viewpoint constraint, and dimension of the omni-directional vision system was determined. A set of models including reflect and refraction model were built. the relation between image point and corresponding world point was determined that can offer essential model and algorithm for omni-directional image process. their practicability is tested through the simulation and real image experiments.

关键词： computer vision

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A Visual Based robot Trajectory Teaching Method for Traditional Chinese Medical Moxibustion therapy 6

A Visual Based Robot Trajectory Teaching Method for Traditio...

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6th IEEE International conference on computer and Communications, ICCC 2020

作者： Liu, Jiaxun Lei, Qujiang Qiao, Yukai Gui, Guangchao Li, Xiuhao Jin, Jintao Wang, Weijun Intelligent Robot Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou 511458 China

ISBN: (纸本)9781728186351

At present, Chinese traditional physiotherapy is more and more trusted and valued by people, among which moxibustion is a very effective treatment. In order to improve the efficiency of human-computer interaction and help physiotherapists to use robots to replace human power, this paper proposes a visual based robot arm trajectory teaching method. the physiotherapy staff only needs to use an optical marker to demonstrate the therapeutic trajectory on the patient's back, and the robotic arm can pick up the expected trajectory and repeat the same work. We use LK optical flow algorithm to obtain marker's motion trajectory, and then smoothen the trajectory through SG filter, which is more executable for robot arm. Finally, we design an experiment and simulate it on MATLAB to obtain the accuracy of the trajectory and the results is impressive. © 2020 IEEE.

关键词： computer vision

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Real-time multi-view stereo algorithm using adaptive-weight Parzen window and local winner-take-all optimization

Real-time multi-view stereo algorithm using adaptive-weight ...

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5th canadian conference on computer and robot vision

作者： Zhang, Yilei Gong, Minglun Yang, Yee-Hong Univ Alberta Edmonton AB T6G 2M7 Canada Mem Univ Newfoundland St John NF A1B 3X9 Canada

ISBN: (纸本)9780769531533

this paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume generation, cost volume merging, and disparity selection. the main focus of this paper is on the second step and a new cost volume merging method is proposed, which combines the adaptive weight and the Parzen window approaches. the proposed method can deal with noise and visibility problems effectively, even with poorly generated cost volumes as input. the experimental results demonstrate the validity of our presented approach.

关键词： Costs

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Charlie Rides the Elevator-Integrating vision, Navigation and Manipulation Towards Multi-Floor robot Locomotion

Charlie Rides the Elevator-Integrating Vision, Navigation an...

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10th International conference on computer and robot vision (CRV)

作者： Troniak, Daniel Sattar, Junaed Gupta, Ankur Little, James J. Chan, Wesley Calisgan, Ergun Croft, Elizabeth Van der Loos, Machiel Univ British Columbia Dept Comp Sci Vancouver BC V6T 1W5 Canada Univ British Columbia Dept Engn Mech Vancouver BC Canada

ISBN: (纸本)9780769549835

this paper presents the design, implementation and experimental evaluation of a semi-humanoid robotic system for autonomous multi-floor navigation. this robot, a Personal robot 2 named Charlie, is capable of operating an elevator to travel between rooms located on separate floors. Our goal is to create a robotic assistant capable of locating points of interest, manipulating objects, and navigating between rooms in a multi-storied environment equipped with an elevator. Taking the elevator requires the robot to (1) map and localize within its operating environment, (2) navigate to an elevator door, (3) press the up or down elevator call button, (4) enter the elevator, (5) press the control button associated with the target floor, and (6) exit the elevator at the correct floor. To that end, this work integrates the advanced sensorimotor capabilities of the robot - laser range finders, stereo and monocular vision systems, and robotic arms - into a complete, task-driven autonomous system. While the design and implementation of individual sensorimotor processing components is a challenge in and of itself, complete integration in intelligent systems design often presents an even greater challenge. this paper presents our approach towards designing the individual components, with focus on machine vision, manipulation, and systems integration. We present and discuss quantitative results of our live robotic system, discuss difficulties faced and expose potential pitfalls.

关键词： motion control path planning robot vision service robots stereo image processing

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Quantitative evaluation of feature extractors for visual SLAM

Quantitative evaluation of feature extractors for visual SLA...

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4th canadian conference on computer and robot vision

作者： Klippenstein, Jonathan Zhang, Hong Univ Alberta Dept Comp Sci Edmonton AB T6G 2E8 Canada

ISBN: (纸本)9780769527864

We present a performance evaluation framework for visual feature extraction and matching in the visual simultaneous localization and mapping (SLAM) context. Although feature extraction is a crucial component, no qualitative study comparing different techniques from. the visual SLAM perspective exists. We extend previous image pair evaluation methods to handle non-planar scenes and the multiple image sequence requirements of our application, and compare three popular feature extractors used in visual SLAM: the Harris corner detector, the Kanade-Lucas-Tomasi tracker (KLT), and the Scale-Invariant Feature Transform (SIFT). We present results from a typical indoor environment in the form of recall/precision curves, and also investigate the effect of increasing distance between image viewpoints on extractor performance. Our results show that all methods can be made to perform well, although it is possible to distinguish between the three. We conclude by presenting guidelines for selecting a feature extractor for visual SLAM based on our experiments.

关键词： Feature extraction

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Efficient indexing for strongly similar subimage retrieval

Efficient indexing for strongly similar subimage retrieval

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4th canadian conference on computer and robot vision

作者： Roth, Gerhard Scott, William Natl Res Council Canada Inst Informat Technol Montreal RdBldg M50 Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9780769527864

Strongly similar subimages contain different views of the same object. In subimage search, the user selects an image region and the retrieval system attempts to find matching subimages in an image database that are strongly similar Solutions have been proposed using salient features or '' interest points '' that have associated descriptor vectors. However, searching large image databases by exhaustive comparison of interest point descriptors is not feasible. To solve this problem, we propose a novel off-line indexing scheme based on the most significant bits (MSBs) of these descriptors. On-line search uses this index file to limit the search to interest points whose descriptors have the same MSB value, a process up to three orders of magnitude faster than exhaustive search. It is also incremental, since the index file for a union of a group of images can be created by merging the index files of the individual image groups. the effectiveness of the approach is demonstrated experimentally on a variety of image databases.

关键词： Image retrieval

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Cotton seedling counting algorithm based on semantic guidance 6

Cotton seedling counting algorithm based on semantic guidanc...

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6th International conference on robot Systems and Applications (ICRSA)

作者： Li, Yanan Tang, Yuling Qi, Yang Tang, Jianqin Wuhan Inst Technol Sch Artificial Intelligence Sch Comp Sci & Engn Wuhan Peoples R China

ISBN: (纸本)9798400708039

To solve the problem of low efficiency, time-consuming and laborious manual statistics of cotton seedling numbers, a cotton seedling counting algorithm based on semantic guidance was proposed. the algorithm consisted of a VGG-16 backbone network, a counting branch, and a segmentation branch. the VGG-16 backbone network is used to extract the features of the input image, segmentation branch as semantic guidance is assisted in counting branch learning, and the counting branch is used to generate predicted density map and obtain the number of seedlings in the image. On the cotton seedling dataset, compared to the best performance contrast counting algorithm, the proposed algorithm reduced MAE by 22%, RMSE by 17%, rMAE by 1.31%, rRMSE by 0.56%, and increased X2 by nearly 1%.

关键词： computer vision Object Counting Cotton Seedling

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