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检索条件"任意字段=Conference on Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision"

共 409 条记录，以下是131-140 订阅

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Moving target detection through omniorientational vision fixed on AGV

Moving target detection through omniorientational vision fix...

引用

conference on intelligent robots and computer vision xxIV - algorithms, techniques, and active vision

作者： Yang Shu-Ying Cao Zuo-Liang He Pei-Lian Tianjin Univ Tianjin 300072 Peoples R China Tianjin Univ Technol Tianjin 300191 Peoples R China

ISBN: (纸本)0819464821

Extremely wide view of the onmi-vision performs highly advanced for the vehicle navigation and target detection. However moving targets detection through omni-vision fixed on AGV (Automatic Guided Vehicle) involves more complex environments, where both the targets and the vehicle are in the moving condition. The moving targets will be detected in a moving background. After analyzing the character on orriniorientational vision and image, we propose to use the estimation in optical flow fields, Gabor filter over optical flow fields for detecting moving objects. Because polar angle theta and polar radius R of polar coordinates are being changed as the targets moving, we improved optical flow approach which can be calculated based on the polar coordinates at the oniniorientational center. We constructed Gabor filter which has 24 orientations every 15', and filter optical flow fields at 24 orientations. By the contrast of the Gabor filter images at the same orientation and the same AGV position between the situation which there aren't any moving targets in the environment and the situation which there are some moving targets in the same environment, the moving targets' optical flow fields could be recognized. Experiment results show that the proposed approach is feasible and effective.

关键词： optical flow omniorientational vision Gabor filters

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Examples of design and achievement of vision Systems for mobile robotics applications

Examples of design and achievement of Vision Systems for mob...

引用

conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Bonnin, PJ Cabaret, L Raulet, L Hugel, V Blazevic, P M'Sirdi, NK Coiffet, P Lab Robot Paris F-78140 Velizy France

ISBN: (纸本)0819438626

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications :wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions: indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory, We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9 CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a single FPGA.

关键词： vision systems robots controlled by vision hardware implementation of vision algorithms

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Uniqueness of shape recovery based on interreflections

Uniqueness of shape recovery based on interreflections

引用

conference on intelligent robots and computer vision XV: algorithms, techniques, active vision, and Materials Handling

作者： Yang, J Zhang, DL Ohnishi, N Sugie, N RIKEN (Japan) Nagoya Univ. (Japan) Meijo Univ. (Japan)

ISBN: (纸本)0819423068

We discuss the uniqueness of 3-D shape recovery of a polyhedron from a single shading image, and propose an approach to uniquely determine the concave shape solution by using interreflections as a constraint. We show that if interreflection distribution is not considered, multiple convex (or concave) shape solutions usually exist for a pyramid with three or more visible facets. However, if interreflection distribution is used as a constraint to limit the shape of polyhedron (for a concave polyhedron), polyhedral shape can be uniquely determined. Interreflections, which were considered to be deleterious in conventional approaches, are an important constraint for shape-from-shading.

关键词： computer vision 3D shape recovery shape-from-shading interreflection polyhedron

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Autonomous robot navigation using vision and sensor based algorithm

Autonomous robot navigation using vision and sensor based al...

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conference on intelligent robots and computer vision xxIV - algorithms, techniques, and active vision

作者： Bhandari, Susmita Mathis, Allison Mohiuddin, Kashif Pietrocola, David Restrepo, Maria Ahlgren, David J. Trinity Coll Dept Engn 300 Summit St Hartford CT 06106 USA

ISBN: (纸本)0819464821

ALVIN-VII is an autonomous vehicle designed to compete in the AUVSI intelligent Ground Vehicle Competition (IGVC). The competition consists of two events, the Autonomous Challenge and Navigation Challenge. Using tri-processor control architecture the information from sonar sensors, cameras, GPS and compass is effectively integrated to map out the path of the robot. In the Autonomous Challenge, the real time data from two Firewire web cameras and an array of four sonar sensors are plotted on a custom-defined polar grid to identify the position of the robot with respect to the obstacles in its path. Depending on the position of the obstacles in the grid, a state number is determined and a command of action is retrieved from the state table. The image processing algorithm comprises a series of steps involving plane extraction, morphological analysis, edge extraction and interpolation, all of which are statistically based allowing optimum operation at varying ambient conditions. In the Navigation Challenge, data from GPS and sonar sensors are integrated on a polar grid with flexible distance thresholds and a state table approach is used to drive the vehicle to the next waypoint while avoiding obstacles. Both algorithms are developed and implemented using National Instruments (NI) hardware and LabVIEW software. The task of collecting and processing information in real time can be time consuming and hence not reactive enough for moving robots. Using three controllers, the image processing is done separately for each camera while a third controller integrates the data received through an Ethernet connection.

关键词： autonomous robot image processing navigation sensors algorithm

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Nonlinear features for classification and pose estimation of machined parts from single views

Nonlinear features for classification and pose estimation of...

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conference on intelligent robots and computer vision XVII - algorithms, techniques, and active vision

作者： Talukder, A Casasent, D Carnegie Mellon Univ Lab Opt Data Proc Dept Elect & Comp Engn Pittsburgh PA 15213 USA

ISBN: (纸本)081942983X

A new nonlinear feature extraction method is presented for classification and pose estimation of objects from single views. The feature extraction method is called the maximum representation and discrimination feature (MRDF) method. The nonlinear MRDF transformations to use are obtained in closed form, and offer significant advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We consider MRDFs on image data, provide a new a-stage nonlinear MRDF solution, and show it specializes to well-known linear and nonlinear image processing transforms under certain conditions. We show the use of the MRDF in estimating the class and pose of images of rendered solid CAD models of machine parts from single views using a feature-space trajectory (FST) neural network classifier. We show new results with better classification and pose estimation accuracy than are achieved by standard principal component analysis (PCA) and Fukunaga-Koontz (FK) feature extraction methods.

关键词： active vision classification discrimination (nonlinear) feature extraction nonlinear features neural networks pose estimation principal component analysis

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A method for sensor processing, sensor integration, and navigation in mobile autonomous ground vehicles

A method for sensor processing, sensor integration, and navi...

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conference on intelligent robots and computer vision xxIV - algorithms, techniques, and active vision

作者： Riggins, Robert N. Mutter, Bruce V. Baker, Scott Farmer, Jesse Huntley, Joy Kessler, Joe Lewis, Lenny Bleufield State Coll CART Inc Ctr Appl Res & Technol POB 2182 Bluefield WV 24701 USA

ISBN: (纸本)0819464821

This paper presents an algorithm for solving three challenges of autonomous navigation: sensor signal processing, sensor integration, and path-finding. The algorithm organizes these challenges into three steps. The first step involves converting the raw data from each sensor to a form suitable for real-time processing. Emphasis in the first step is on image processing. In the second step, the processed data from all sensors is integrated into a single map. Using this map as input, during the third step the algorithm calculates a goal and finds a suitable path from robot to the goal. The method presented in this paper completes these steps in this order and the steps repeat indefinitely. The robotic platform designed for testing the algorithm is a six-wheel mid-wheel drive system using differential steering. The robot, called Anassa II, has an electric wheelchair base and a custom-built top and it is designed to participate in the intelligent Ground Vehicle Competition (IGVC). The sensors consist of a laser scanner, a video camera, a Differential Global Positioning System (DGPS) receiver, a digital compass, and two wheel encoders. Since many intelligent vehicles have similar sensors, the approach presented here is general enough for many types of autonomous mobile robots.

关键词： sensor integration autonomous ground robotic vehicles vision path-planning

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Real time image processing architecture for robot vision

Real time image processing architecture for robot vision

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conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Persa, S Jonker, P Tech Univ Delft Pattern Recognit Grp NL-2628 CJ Delft Netherlands

ISBN: (纸本)0819438626

This paper presents a study of the impact of MMX technology and PIII Streaming SIMD (Single Instruction stream, Multiple Data stream) Extensions in image processing and machine vision application, which, because of their hard real time constrains, is an undoubtedly challenging task. A comparison with a traditional scalar code and with another parallel SIMD architecture (IMAP-vision board) is discussed with emphasize of the particular programming strategies for speed optimization. More precisely we discuss the low level and intermediate level image processing algorithms, which are best suited for parallel SIMD implementation. High-level image processing algorithms are more suitable for parallel implementation on MIMD architectures. While the IMAP-vision system performs better because of the large number of processing elements, the MMX processor and PIII (with Streaming SIMD Extensions) remains a good candidate for low-level image processing.

关键词： low and intermediate image processing parallel SIMD architectures robot vision

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Embodying a cognitive model in a mobile robot

Embodying a cognitive model in a mobile robot

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conference on intelligent robots and computer vision xxIV - algorithms, techniques, and active vision

作者： Benjamin, D. Paul Lyons, Damian Lonsdale, Deryle Pace Univ Dept Comp Sci 1 Pace Plaza New York NY 10038 USA Fordham Univ Dept Comp & Informat Sci Bronx NY 10458 USA Brigham Young Univ Dept Linguist & English Language Provo UT 84602 USA

ISBN: (纸本)0819464821

The ADAPT project is a collaboration of researchers in robotics, linguistics and artificial intelligence at three universities to create a cognitive architecture specifically designed to be embodied in a mobile robot. There are major respects in which existing cognitive architectures are inadequate for robot cognition. In particular, they lack support for true concurrency and for active perception. ADAPT addresses these deficiencies by modeling the world as a network of concurrent schemas, and modeling perception as problem solving. Schemas are represented using the RS (Robot Schemas) language, and are activated by spreading activation. RS provides a powerful language for distributed control of concurrent processes. Also, The formal semantics of RS provides the basis for the semantics of ADAPT's use of natural language. We have implemented the RS language in Soar, a mature cognitive architecture originally developed at CMU and used at a number of universities and companies. Soar's subgoaling and learning capabilities enable ADAPT to manage the complexity of its environment and to learn new schemas from experience. We describe the issues faced in developing an embodied cognitive architecture, and our implementation choices.

关键词： mobile robotics cognitive architecture predictive vision learning robot schemas ADAPT

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Towards a vision system for blinds

Towards a vision system for blinds

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conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Pissaloux, EE Bouayed, H Abdallah, S Univ Rouen Fac Sci F-76821 Mt St Aignan France

ISBN: (纸本)0819438626

This paper addresses design principles and definition of a non-invasive vision system assisting blinds in their dispalcements in non-cooperating environment The global environment perception and understanding is a a key problem for such systems. The optical vision is one of sense providing the global information on nearest environment;its association with convenient global environment representation transmitted to blinds via tactile interface allows blinds to locate all moving and fixed obstacles. Adding vision sensor to electronic travel aid (ETA) for blinds increases blinds autonomy, helps them to orient and move in safety in 3D environment. The announced principles for vision-based ETA can be easily transposed to any robotics, and especially humanoids, vision system.

关键词： electronic travel aids (ETA) vision system design scene analysis image understanding robotics systems

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Transformation of light double cones in the human retina: The origin of trichromatisme, of 4D-spatiotemporal vision and of patchwise 4D Fourier transformation in Talbot imaging

Transformation of light double cones in the human retina: Th...

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conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Lauinger, N CORRSYS GmbH (Germany)

ISBN: (纸本)0819426407

The interpretation of the ''inverted'' retina of primates as an ''optoretina'' (a light cones transforming diffractive cellular 3D-phase grating) integrates the functional, structural, and oscillatory aspects of a cortical layer. It is therefore relevant to consider prenatal developments as a basis of the macro-and micro-geometry of the inner eye. This geometry becomes relevant for the postnatal trichromatic: synchrony organization (TSO) as well as the adaptive levels of human vision (28 - 33). It will be shown that the functional performances, the trichromatisme in photopic vision, the monocular spatiotemporal 3D- and 4D-motion detection, as well as the Fourier optical image transformation. with extraction of invariances all became possible, To transform light cones into reciprocal gratings especially the spectral phase conditions in the eikonal of the geometrical optical imaging before the retinal 3D-grating become relevant first, then in the von Laue resp. reciprocal van Lane equation for 3D-grating optics inside the grating and finally in the periodicity of Talbot-/Fresnel-planes in the near-field behind the grating. It is becoming possible to technically realize - at least in same specific aspects - such a cortical optoretina sensor element with its typical hexagonal-concentric structure which leads to these visual functions.

关键词： retina human vision trichromatisme spatiotemporal vision Talbot imaging Patterson function Harker synthesis trichromatic synchrony organization

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