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检索条件"任意字段=Conference on Intelligent Robots and Computer Vision XXIX - Algorithms and Techniques"

共 373 条记录，以下是131-140 订阅

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On the integration of point feature acquisition, tracking and uncalibrated metric reconstruction

On the integration of point feature acquisition, tracking an...

引用

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

作者： Tonko, M Kinoshita, K ATR Human Informat Proc Res Labs Kyoto 6190288 Japan

ISBN: (纸本)0819434302

In this paper a sequence of algorithms for image feature point detection and tracking as well as Euclidian reconstruction of rigid three-dimensional objects from point correspondences is presented. For fully automatic point feature detection, grayvalue images are processed. High-curvature points on contours, i.e. contour elements with locally maximal curvature, are tracked using a normalized correlation algorithm. High-curvature points that could be tracked in a sequence of more than three images are used as point features that are eligible for reconstruction. Since the general way to obtain the epipolar, projective, and Euclidian geometries from point feature correspondences is already solved, here the emphasis is on the performance of the algorithms in the presense of noise. Kanatani's epipolar geometry estimation method is improved and this is experimentally validated. Regarding Bougnoux's Euclidian geometry estimation method, the initial linear solution is now obtained with less uncertainty and the non-linear minimization does no longer converge to a hidden solution. Experimental results are given to assess the system performance.

关键词： 3D scanning Euclidian reconstruction uncalibrated vision real-time feature detection tracking

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Adaptation of human routines to support a robot's tasks planning and scheduling

Adaptation of human routines to support a robot's tasks plan...

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conference on intelligent robots and computer vision XXXI - algorithms and techniques

作者： Tikanmaki, A. Feliu, Troyano S. Roning, J. Univ Oulu CSE Dept Oulu Finland

ISBN: (纸本)9780819499424

Service robots usually share their workspace with people. Typically, a robot's tasks require knowing when and where people are, to be able to schedule requested tasks. Therefore, there exists the need to take into account the presence of humans when planning their actions and it is indispensable to have knowledge of robots' environments. It means in practice knowing when (time and events duration) and where (in workspace) a robot's tasks can be performed. This research paper takes steps towards obtaining of the spatial information required to execute software to plan tasks to be performed by a robot. With this aim, a program capable to define meaningful areas or zones in the robot workspace by the use of a clustering is created tied with statistically reasoned time slots when to perform each task. The software is tested using real data obtained from different cameras located along the corridors of CSE Department of University of Oulu.

关键词： service robots learning clustering

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ESTABLISHING IDENTITY AND POSE OF OBJECTS FROM A LIBRARY USING RECIPROCAL BASIS-SET AND DIRECTION-OF-ARRIVAL techniques 12

ESTABLISHING IDENTITY AND POSE OF OBJECTS FROM A LIBRARY USI...

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

作者： WRIGHT, CR VAZ, RF CYGANSKI, D WORCESTER POLYTECH INST DEPT ELECT & COMP ENGNMACHINE VIS LABWORCESTERMA 01609

ISBN: (纸本)0819413208

In many object recognition problems, the object to be identified is one of a fixed set (library) of objects. The problem of identifying which object is present then shares characteristics of the signal detection and parameter estimation problem: which signal is present and what are its parameters? The Reciprocal Basis Set/Direction of Arrival (RBS/DOA) technique is a recently developed technique for object pose determination. It uses a single, comprehensive analytic object model representing a suite of views of an object. Object orientation can be directly established from single 2-D views of the object, without a costly search of the pose parameter space, and without need for the views to be related by a geometric image transformation. This paper describes how one can construct reciprocal basis sets to simultaneously determine object identity and pose from a single 2-D image. Results are presented which demonstrate this ability for a single unknown pose parameter using synthetic and camera-acquired images.

关键词： Visual process modeling Machine vision computer vision technology Robot vision robots Wavefronts Error analysis Image processing Object recognition Signal detection

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Beyond adaptive critic-creative learning for intelligent mobile robots

Beyond adaptive critic-creative learning for intelligent mob...

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conference on intelligent robots and computer vision XX: algorithms, techniques, and Active vision

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

ISBN: (纸本)081944300X

intelligent industrial and mobile robots may be considered proven technology in structured environments. Teach programming and supervised learning methods permit solutions to a variety of applications. However, we believe that to extend the operation of these machines to more unstructured environments requires a new teaming method. Both unsupervised learning and reinforcement learning are potential candidates for these new tasks. The adaptive critic method has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning methods that goes beyond the adaptive critic method for unstructured environments. The adaptive critic is a form of reinforcement learning. A critic element provides only high level grading corrections to a cognition module that controls the action module. In the proposed system the critic's grades are modeled and forecasted, so that an anticipated set of sub-grades are available to the cognition model. The forecasting grades are interpolated and are available on the time scale needed by the action model. The success of the system is highly dependent on the accuracy of the forecasted grades and adaptability of the action module. Examples from the guidance of a mobile robot are provided to illustrate the method for simple line following and for the more complex navigation and control in an unstructured environment. The theory presented that is beyond the adaptive critic may be called creative theory. Creative theory is a form of learning that models the highest level of human learning- imagination. The application of the creative theory appears to not only be to mobile robots but also to many other forms of human endeavor such as educational learning and business forecasting. Reinforcement learning such as the adaptive critic may be applied to known problems to aid in the discovery of their solutions. The significance of creative theory is that it pe

关键词： reinforcement learning systems adaptive critic intelligent robots heuristic dynamic programming (HDP) dual heuristic programming (DHP) globalized DHP (GDHP)

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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 simple, inexpensive, and effective implementation of a vision-guided autonomous robot

A simple, inexpensive, and effective implementation of a vis...

引用

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

作者： Tippetts, Beau Lillywhite, Kirt Fowers, Spencer Dennis, Aaron Lee, Dah-Jye Archibald, James Brigham Young Univ Dept Elect & Comp Engn Robot Vis Lab Provo UT 84602 USA

ISBN: (纸本)0819464821

This paper discusses a simple, inexpensive, and effective implementation of a vision-guided autonomous robot. This implementation is a second year entrance for Brigham Young University students to the intelligent Ground Vehicle Competition. The objective of the robot was to navigate a course constructed of white boundary lines and orange obstacles for the autonomous competition. A used electric wheelchair was used as the robot base. The wheelchair was purchased from a local thrift store for $28. The base was modified to include Kegresse tracks using a friction drum system. This modification allowed the robot to perform better on a variety of terrains, resolving issues with last year's design. In order to control the wheelchair and retain the robust motor controls already on the wheelchair the wheelchair joystick was simply removed and replaced with a printed circuit board that emulated joystick operation and was capable of receiving commands through a serial port connection. Three different algorithms were implemented and compared: a purely reactive approach, a potential fields approach, and a machine learning approach. Each of the algorithms used color segmentation methods to interpret data from a digital camera in order to identify the features of the course. This paper will be useful to those interested in implementing an inexpensive vision-based autonomous robot.

关键词： IGVC autonomous robot design machine learning potential fields friction drum Kegresse

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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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Linear stereo vision based objects detection and tracking using spectral clustering

Linear stereo vision based objects detection and tracking us...

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conference on intelligent robots and computer vision XXVIII: algorithms and techniques

作者： Moqqaddem, Safaa Ruichek, Y. Touahni, R. Sbihi, A. Univ Technol Belfort Montbelaird Syst & Transportat Lab F-90010 Belfort France Ibn Tofail Univ Kenitra LASTID Lab Kenitra Morocco

ISBN: (纸本)9780819484154

cr Objects detection and tracking is a key function for many applications like video surveillance, robotic, intelligent transportation systems, ... etc. This problem is widely treated in the literature in terms of sensors (video cameras, laser range finder, Radar) and methodologies. This paper proposes a new approach for detecting and tracking objects using stereo vision with linear cameras. After the matching process applied to edge points extracted from the images, the reconstructed points in the scene are clustered using spectral analysis. The obtained clusters are then tracked throughout their center of gravity using a Kalman filter and a Nearest Neighbour (NN) based data association algorithm. The approach is tested and evaluated on real data to demonstrate its effectiveness for obstacle detection and tracking in front of a vehicle. This work is a part of a project that aims to develop advanced driving aid systems, supported by the CPER, STIC and Volubilis programs.

关键词： Stereo vision Spectral clustering Tracking Data association

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Real-Time 3D Environment Model for Obstacle Detection and Collision Avoidance with a Mobile Service Robot

Real-Time 3D Environment Model for Obstacle Detection and Co...

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

作者： Kuehnle, J. U. Danzer, M. Verl, A. Bischoff, R. Fraunhofer Inst Mfg Engn & Automat IPA Nobelstr 12 D-70569 Stuttgart Germany KUKA Roboter GmbH D-86165 Augsburg Germany

ISBN: (纸本)9780819479327

In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.

关键词： 3D environment model obstacle detection collision avoidance mobile service robots 3D time-of-flight camera general-purpose computation on graphics processing unit

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IMAGE-ANALYSIS OF PHOTOCHROMIC INK FOR SECURITY APPLICATIONS 12

IMAGE-ANALYSIS OF PHOTOCHROMIC INK FOR SECURITY APPLICATIONS

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

作者： BATCHELOR, B STEPHENS, N UNIV WALES COLL CARDIFF COLL CARDIFFDEPT COMP MATHCARDIFF CF1 3NSS GLAMWALES

ISBN: (纸本)0819413208

Photochromic materials exist in two different color states, with switching between states being achieved by irradiation, with ultra-violet and visible light. By printing patterns and data using both photochromic ink and ordinary ink, it is possible to create a document that is difficult to forge and easy to authenticate. Security is achieved only by public ignorance about and the relative rarity of photochromic materials. Very high levels of security are possible, using modern data encipherment techniques. These are so secure that no known algorithmic method exists for breaking them in a practical amount of time. It should be understood that encipherment algorithms provide a way of protecting a message. Guaranteeing the authenticity of a complete document is better achieved using photochromic materials. This article describes a scheme which employs both techniques to achieve higher overall security than either can provide individually. Central to this idea is the ability to sense the presence of photochromic materials using machines, prior to recognizing specified patterns and reading text.

关键词： computer security Photochromic materials Computing systems Printing Ultraviolet radiation Image processing Visible radiation Lamps Switches robots

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