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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71-80 订阅

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Navigation using self-initialising active contours.

Navigation using self-initialising active contours.

引用

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

作者： Molloy, D Whelan, PF Vision Systems Laboratory School of Electronic Engineering Dublin City University Glasnevin Dublin 9 Ireland

ISBN: (纸本)0819426407

This paper examines a novel approach for extracting motion information to allow the autonomous navigation of an intelligent mobile robot using computer vision in a moving camera, moving object environment. The approach begins by extracting low-level scene feature information using algorithms such as the SUSAN corner and edge detector. A routine is described for converting the information obtained from these stable features to initialisation information for creating active contour models or 'snakes'. Multiple open and closed active contours are identified in an initialisation frame from this primary feature extraction. These contours are allowed to converge more closely to the features to which they are attached. These contours are then allowed to converge to the features within each frame through image sequences, with criteria for the re-initialisation of new contours when motion information in the sequence or a region becomes sparse. The information received from these contour models is then used to determine. the motion information in the scene. Reasons for this approach are outlined and justified. This theoretical approach is then applied to the practical cases of a mobile robot navigating indoor scenes. Large sections of this approach have been implemented in the Khoros environment, with new routines written for this approach. Promising results are already available and this approach is being examined to allow the extraction of depth information in the scene for assisting navigation using a form of '3-D snakes'.

关键词： corners SUSAN active contours snakes edge-linking

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intelligent robot trends and predictions for the first year of the new millennium

Intelligent robot trends and predictions for the first year ...

引用

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

作者： Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

关键词： intelligenr robots mechatronics industrial robots artificial intelligence

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Autonomous robot software development using simple software components

Autonomous robot software development using simple software ...

引用

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

作者： Burke, TM Chung, CJ Lawrence Technol Univ Dept Math & Comp Sci Southfield MI 48075 USA

ISBN: (纸本)081945561X

Developing software to control a sophisticated lane-following, obstacle-avoiding, autonomous robot can be demanding and beyond the capabilities of novice programmers - but it doesn't have to be. A creative software design utilizing only basic image processing and a little algebra, has been employed to control the LTU-AISSIG autonomous robot - a contestant in the 2004 intelligent Ground Vehicle Competition (IGVC). This paper presents a software design equivalent to that used during the IGVC, but with much of the complexity removed. The result is an autonomous robot software design, that is robust, reliable, and can be implemented by programmers with a limited understanding of image processing. This design provides a solid basis for further work in autonomous robot software, as well as an interesting and achievable robotics project for students.

关键词： robotics autonomous robot computer science education simple software KISS image processing

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Fast and efficient indexing approach for object recognition

Fast and efficient indexing approach for object recognition

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

作者： Hefnawy, A Mashali, S Rashwan, M Fikri, M Elect Res Inst Cairo Egypt

ISBN: (纸本)0819434302

This paper introduces a fast and efficient indexing approach for both 2D & 3D model-based object recognition in the presence of rotation, translation, and scale Variations of objects. The indexing entries are computed after preprocessing the data by Haar wavelet decomposition. The scheme is based on a unified image feature detection approach based on Zernike moments. A set of low level features, e.g. high precision edges, gray level corners, are estimated by a set of orthogonal Zernike moments, calculated locally around every image point. A high dimensional, highly descriptive indexing entries are then calculated based on the correlation of these local features and employed for fast access to the model database to generate hypotheses. A Bst of the most candidate models is then presented by evaluating the hypotheses. Experimental results are included to demonstrate the effectiveness of the proposed indexing approach.

关键词： computer vision multidimensional indexing object recognition wavelet transform

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Fast face localization for mobile robots: signature analysis and color processing

Fast face localization for mobile robots: signature analysis...

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

作者： Grana, M Gonzalez, AI Raducanu, B Echave, I UPV EHU Dept CCIA San Sebastian 20080 Spain

ISBN: (纸本)081942983X

The purpose of our works is to provide fast and reliable face localization techniques in real time an in real-life scenes. Person localization is included in this problem. The end application sought is the ability of mobile robots to navigate in human populated environments, and to start visual interaction with them. Known methods are computationally intensive, far from real time implementation at near future processing power of off-the-shelf processors. Our technique is based in motion segmentation, signature analysis and color processing. Signature analysis provides fast hints of the person and face localization. Color processing is used to confirm the face hypothesis, and it is based on our works on adaptive color quantization of image sequences. The technique can be implemented in real time and combined with other approaches to enhance the recognition results.

关键词： color processing face localization person localization

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A comparison of two and three dimensional imaging

A comparison of two and three dimensional imaging

引用

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

作者： Hall, Ernest Rosselot, Donald Aull, Mark Balapa, Manohar Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819464821

Three dimensional visual recognition and measurement are important in many machine vision applications. In some cases, a stationary camera base is used and a three-dimensional model will permit the measurement of depth information from a scene. One important special case is stereo vision for human visualization or measurements. In cases in which the camera base is also in motion, a seven dimensional model may be used. Such is the case for navigation of an autonomous mobile robot. The purpose of this paper is to provide a computational view and introduction of three methods to three-dimensional vision. Models are presented for each situation and example computations and images are presented. The significance of this work is that it shows that various methods based on three-dimensional vision may be used for solving two and three dimensional vision problems. We hope this work will be slightly iconoclastic but also inspirational by encouraging further research in optical engineering.

关键词： three dimensional vision stereo imaging human visualization perspective projective model

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Fuzzy logic control for an automated guided vehicle

Fuzzy logic control for an automated guided vehicle

引用

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

作者： Cao, M Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar sensors as well as stored map information can be cased to guide the robot. Sensor fusion can be accomplished between real time sensed information and stored information in a manner similar to a human decision maker. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating to the computer the X,Y coordinates of a lane marker. Testing of these systems yielded positive results by showing that at five miles per hour, the vehicle can follow a line and avoid obstacles. The obstacle detection uses information from Polaroid sonar detection system. The motor control system uses a programmable Galil motion control system. This design, in its modularity, creates a portable autonomous controller that could be used for any mobile vehicle with only minor adaptations.

关键词： fuzzy logic vision guidance mobile robots motion control

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intelligent controller for backing up a tractor-trailer truck using state transition table

Intelligent controller for backing up a tractor-trailer truc...

引用

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

作者： Enab, YM Mansoura Univ. (Egypt)

ISBN: (纸本)0819426407

The paper introduces a technique for constructing a look-up table contains information about selected points in the state space of the nonlinear process to be controlled. The new states to which a specific state point transfers when the process is issued different control commands are registered. The controller designed to make use of the table depends on the heuristic assumption that the behavior of the process at a specific state space point is similar to its behavior at a nearby point provided that the process is issued a similar control command at each state. The table design aspects for reducing the storage requirements and minimizing the computational effort for producing control decisions are investigated. The applicability of the controller is tested for the Tractor-Trailer Truck steering problem backing up at a constant speed. The truck backs up in an environment contains obstacles to be avoided. computer simulation of the truck and its controller has demonstrated workability.

关键词： scattered data analysis non linearity representation associative access memory learning control motion control

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Quality classification of wooden surfaces using Gabor filters and genetic feature optimization

Quality classification of wooden surfaces using Gabor filter...

引用

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

作者： Pölzleitner, W Schwingskakl, G Graz Tech Univ A-8010 Graz Austria

ISBN: (纸本)0819434302

We apply a model of texture segmentation using multiple spatially and spectrally localized filters, known as Gabor filters, to the analysis of texture and defect regions found on wooden boards. Specifically we present a method to find an optimal set of parameters for a given two-dimensional object detection method. The method uses banks of Gabor filters to limit the range of spatial frequencies, where mutually distinct textures differ significantly in their dominant characterizing frequencies. By encoding images into multiple narrow spatial frequency and orientation channels a local classification of texture regions can be achieved. Unlike other methods applying Gabor filters, we do not use a full Gabor transform, but use feature selection techniques to maximize discrimination. The selection method uses a genetic algorithm to optimize various parameters of the system including Gabor weights, and the parameters of morphological pre-processing. We demonstrate the applicability of the method to the task of classifying wooden textures, and report experimental results using the proposed method.

关键词： computer vision

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Omni-vision based autonomous mobile robotic platform

Omni-vision based autonomous mobile robotic platform

引用

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

作者： Cao, ZL Hu, J Cao, J Hall, EL Tianjin Univ Technol Tianjin Peoples R China

ISBN: (纸本)081944300X

As a Laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

关键词： mobile robot omni directional vision navigation teach-and-playback image database

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