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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81-90 订阅

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intelligent robot control using an adaptive critic with a task control center and dynamic database

Intelligent robot control using an adaptive critic with a ta...

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

作者： Hall, E. L. Ghaffari, M. Liao, X. Ali, S. M. Alhaj Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Zarqa Jordan

ISBN: (纸本)0819464821

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

关键词： intelligent robots adaptive control creative control reinforcement learning adaptive critic

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Self-calibration algorithms for cameras and laser range finders

Self-calibration algorithms for cameras and laser range find...

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

作者： Zhang, QL Pless, R Washington Univ Dept Comp Sci & Engn St Louis MO 63130 USA

ISBN: (纸本)081945561X

Autonomous systems that navigate through unknown and unstructured environments must solve the egomotion estimation problem. Fusing the information from many different sensors makes this motion estimation more stable, but requires that the relative position and orientation of these sensors be known. Self-calibration algorithms are the most useful for this calibration problem because the do not require any known feature in the environment and can be used during system operation. Here we give geometric constraints, the coherent motion constraints, that allow a framework for the development of self-calibration algorithms for a heterogeneous sensor system (such as cameras, laser range finders, and odometry). If, for all sensors, a conditional probability density function can be defined to relate sensor measurements to the sensor motion, then the coherent motion constraints allows a maximum likelihood formulation of the sensor calibration problem. We present complete algorithms here for the case of a camera and laser range finder, in the case of both discrete and differential motions.

关键词： Sensors Cameras Calibration Motion estimation Laser range finders Motion measurement Imaging systems Algorithm development robots Sensor calibration

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MARR: active vision model

MARR: Active vision model

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

作者： Podladchikova, LN Gusakova, VI Shaposhnikov, DG Faure, A Golovan, AV Shevtsova, NA Rostov State Univ. (Russia) Univ. le Havre (France) George Mason Univ. (United States) Univ. of Maryland/College Park (United States)

ISBN: (纸本)0819426407

Earlier(13,18,19), the biologically plausible active vision,model for Multiresolutional Attentional Representation and Recognition (MARR) has been developed. The model is based on the scanpath theory of Noton and Stark(17) and provides invariant recognition of gray-level images. In the present paper, the algorithm of automatic image viewing trajectory formation in the MARR model, the results of psychophysical experiments, and possible applications of the model are considered, Algorithm of automatic Image viewing trajectory formation is based on imitation of the scanpath formed by operator Several propositions about possible mechanisms for a consecutive selection of fixation points in human visual perception inspired by computer simulation results and known psyhophysical data have been tested and confirmed in our psychophysical experiments, in particular, we have found that gaze switch may be directed (i) to a peripheral part of the vision field which contains an edge oriented orthogonally to the edge in the point of fixation, and (ii) to a peripheral part of the vision field containing crossing edges, Our experimental results have been used to optimize automatic algorithm of image viewing in the MARR model, The modified model demonstrates an ability to recognize complex real world images invariantly with respect to scale, shift, rotation, illumination conditions, and, in part, to point of view and can be used to solve some robot vision tasks.

关键词： active vision invariant recognition scanpath

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The 14^TH Annual intelligent Ground Vehicle Competition:: intelligent teams creating intelligent ground robots

The 14<SUP>TH</SUP> Annual Intelligent Ground Vehicle Compet...

引用

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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Visual terrain mapping for traversable path planning of mobile robots

Visual terrain mapping for traversable path planning of mobi...

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

作者： Shirkhodaie, A Amrani, R Tunstel, E Tennessee State Univ Dept Mech & Mfg Engn Intelligent Tact Mobil Robot Lab Nashville TN 37209 USA

ISBN: (纸本)081945561X

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

关键词： terrain traversability assessment modeling visual terrain mapping image texture analysis

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CONVEX SHAPE REFINEMENT USING DYNAMIC-PROGRAMMING FOR SURFACE DEFECT CLASSIFICATION ON WOODEN MATERIALS 12

CONVEX SHAPE REFINEMENT USING DYNAMIC-PROGRAMMING FOR SURFAC...

引用

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

作者： POLZLEITNER, W JOANNEUM RES A-8010 GRAZAUSTRIA

This paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic program... 详细信息

ISBN: (纸本)0819413208

关键词： computer programming Evolutionary algorithms computer vision technology Machine vision Robot vision robots Fuzzy logic Information operations Inspection Pattern recognition

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Implementation and evaluation of a wide-angle stereo vision system using the OMNIview motionless camera system

Implementation and evaluation of a wide-angle stereo vision ...

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

作者： Johnson, KB Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426407

This paper presents an evaluation of a stereo vision system using a unique wide-angle imaging device. Because of the extremely wide field of view, the use of such optics is potentially useful to stereo applications where large scenes or close-up features are of interest. A general problem and deterrent for the use of wide-angle optics has been the large amount of distortion which makes processing of the warped image features and modeling of the lens difficult when using conventional camera models. However, this research attempts to use a unique digital orientation and viewing apparatus, OMNIview, to eliminate this problem. The OMNIview Motionless Camera Orientation System provides a method for video pan, tilt, zoom, rotation, and distortion correction without moving parts. The incentive for using such a device within a stereo vision system is the wide field of measurement which can be achieved without physical scanning of the camera. This research will show that use of OMNIview for acquisition and correction of a stereo pair of wide-angle images results in limitations to the accuracy of the system.

关键词： stereo vision fisheye lens distortion OMNIview dewarping

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A 2D CMAC neural net algorithm for a positioning system of automated agriculture vehicle

A 2D CMAC neural net algorithm for a positioning system of a...

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

作者： Zhang, Fangming Ying, Yibin Zhejiang Univ Coll Biosyst Engn & Food Sci 268 Kaixuan Rd Hangzhou 310029 Zhejiang Peoples R China Kansas State Univ Dept Agr & Biol Engn Manhattan KS 66502 USA

ISBN: (纸本)0819464821

In a machine vision-based guidance system, a camera must be corrected precisely to calculate the position of vehicle, however, it is not easy to obtain the intrinsic and extrinsic parameters of the camera, while neural nets have the advantage to set up a mapping relationship for a nonlinear system. We intended to use the CMAC neural net to construct two map relationships: image coordinates and offsets of the vehicle, and image coordinates and the heading angle of the vehicle. The net inputs were the coordinates of top and bottom points in the detected guidance line in the image coordinate system. The outputs were offsets and heading angles. The verified results show that the RMS of inferred offset is 10.5 mm, and the STD is 11.3 mm;the RMS of inferred heading is 1.1 degrees, and the STD is 0.99 degrees.

关键词： CMAC neural net machine vision positioning system guidance

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Fuzzy logic control of an AGV

Fuzzy logic control of an AGV

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

作者： Kelkar, N Samu, T Hall, EL Univ. of Cincinnati (United States)

ISBN: (纸本)0819426407

Automated Guided Vehicles (AGV's) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research an the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic approach Ear steering and speed control, a neuro-fuzzy approach for ultrasound sensing (not discussed in this paper) and an overall expert system. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised by a 486 computer through a multi-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected by a vision tracking device that transmits. the X,Y coordinates of the lane marker to the control computer. Simulation and resting of these systems yielded promising results. This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.

关键词： vision guidance ultrasonic sensing mobile robots intelligent machines three dimensional imaging fuzzy logic

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Visual world perception modeling and control of cooperative mobile robots

Visual world perception modeling and control of cooperative ...

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conference on intelligent robots and computer vision xxI

作者： Shirkhodaie, A Tennessee State Univ Intelligent Tact Mobil Res Lab Dept Mech & Mfg Engn Nashville TN 37209 USA

ISBN: (纸本)081945155X

There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

关键词： world perception modeling cooperative robots robot pose estimation

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