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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181-190 订阅

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MARR: Active vision model

MARR: Active vision model

引用

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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EXTRACTION OF EDGE-BASED AND REGION-BASED FEATURES FOR OBJECT RECOGNITION 12

EXTRACTION OF EDGE-BASED AND REGION-BASED FEATURES FOR OBJEC...

引用

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

作者： COUTTS, B RAVI, S HU, GZ SHRIKHANDE, N CENT MICHIGAN UNIV DEPT COMP SCIMT PLEASANTMI 48858

ISBN: (纸本)0819413208

One of the central problems of computer vision is object recognition. A catalogue of model objects is described as a set of features such as edges and surfaces. The same features are extracted from the scene and matched against the models for object recognition. Edges and surfaces extracted from the scenes are often noisy and imperfect. In this paper algorithms are described for improving low level edge and surface features. Existing edge extraction algorithms are applied to the intensity image to obtain edge features. Initial edges are traced by following directions of the current contour. These are improved by using corresponding depth and intensity information for decision making at branch points. Surface fitting routines are applied to the range image to obtain planar surface patches. An algorithm of region growing is developed that starts with a coarse segmentation and uses quadric surface fitting to iteratively merge adjacent regions into quadric surfaces based on approximate orthogonal distance regression. Surface information obtained is returned to the edge extraction routine to detect and remove fake edges. This process repeats until no more merging or edge improvement can take place. Both synthetic (with Gaussian noise) and real images containing multiple object scenes have been tested using the merging criteria. Results appeared quite encouraging.

关键词： Edge detection Object recognition Image segmentation Algorithm development Feature extraction Detection and tracking algorithms Image processing algorithms and systems computer vision technology Machine vision Visual process modeling

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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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Citrus fruit recognition using color image analysis

Citrus fruit recognition using color image analysis

引用

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

作者： Xu, HR Ying, YB Zhejiang Univ Coll Biosyst Engn & Food Sci Hangzhou 310029 Peoples R China

ISBN: (纸本)081945561X

An algorithm for the automatic recognition of citrus fruit on the tree was developed. Citrus fruits have different color with leaves and branches portions. Fifty-three color images with natural citrus-grove scenes were digitized and analyzed for red, green, and blue (RGB) color content. The color characteristics of target surfaces (fruits, leaves, or branches) were extracted using the range of interest (ROI) tool. Several types of contrast color indices were designed and tested. In this study, the fruit image was enhanced using the (R-B) contrast color index because results show that the fruit have the highest color difference among the objects in the image. A dynamic threshold function was derived from this color model and used to distinguish citrus fruit from background. The results show that the algorithm worked well under frontlighting or backlighting condition. However, there are misclassifications when the fruit or the background is under a brighter sunlight.

关键词： machine vision citrus detection color indices dynamic thresholdng image processing

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Interaction of perception and gaze control in autonomous vehicles

Interaction of perception and gaze control in autonomous veh...

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

作者： Pellkofer, M Lützeler, M Dickmanns, ED UBM Inst Systedynam & Flugmechan Munich Germany

ISBN: (纸本)081944300X

For robust and secure behavior in natural environment an autonomous vehicle needs an elaborate vision sensor as main source of information. The vision sensor must be adaptable to the external situation, the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. In the EMS-vision system, this vision sensor consists of four cameras with different focal lengths mounted on a highly dynamic pan-tilt camera head. Image processing, gaze control and behavior decision interact with each other in a closed loop. The image processing experts specify so-called regions of attention (RoAs) for each object in 3D object coordinates. These RoAs should be visible with a resolution as required by the measurement techniques applied. The behavior decision module specifies the relevance of obstacles like road segments, crossings or landmarks in the situation context. The gaze control unit takes all this information in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. The sequence with the best information gain is performed. ne information gain depends on the relevance of objects or object parts, the duration of smooth pursuit maneuvers, the quality of perception and the number of saccades. The functioning of the EMS-vision system is demonstrated in a complex and scalable autonomous mission with the UBM test vehicle VAMORS.

关键词： active vision autonomous vehicles road recognition

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Research on the Feature Set Construction Method for Spherical Stereo vision 32

引用

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

作者： Zhu, Junchao Wan, Li Roning, Juha Feng, Weijia Tianjin Univ Technol Tianjin Key Lab Control Theory & Applicat Complic Tianjin Peoples R China Univ Oulu Dept Comp Sci & Engn Oulu Finland Tianjin Normal Univ Coll Comp & Informat Engn Tianjin Peoples R China

ISBN: (纸本)9781628414967

Spherical stereo vision is a kind of stereo vision system built by fish-eye lenses, which discussing the stereo algorithms conform to the spherical model. Epipolar geometry is the theory which describes the relationship of the two imaging plane in cameras for the stereo vision system based on perspective projection model. However, the epipolar in uncorrected fish-eye image will not be a line but an arc which intersects at the poles. It is polar curve. In this paper, the theory of nonlinear epipolar geometry will be explored and the method of nonlinear epipolar rectification will be proposed to eliminate the vertical parallax between two fish-eye images. Maximally Stable Extremal Region (MSER) utilizes grayscale as independent variables, and uses the local extremum of the area variation as the testing results. It is demonstrated in literatures that MSER is only depending on the gray variations of images, and not relating with local structural characteristics and resolution of image. Here, MSER will be combined with the nonlinear epipolar rectification method proposed in this paper. The intersection of the rectified epipolar and the corresponding MSER region is determined as the feature set of spherical stereo vision. Experiments show that this study achieved the expected results.

关键词： Spherical stereo vision Epipolar geometry Polar curve MSER

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Expert system approach to design an automated guided vehicle

Expert system approach to design an automated guided vehicle

引用

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

作者： Kumaraguru, K Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

The purpose of this paper is to describe an expert system to design the base of an automated guided vehicle. The components of the expert system include: A user-friendly graphic user input interface, where the user can enter specifications - like the environment used, application of the robot, etc.;An engine that converts the managerial requirements into technical parameters and designs the robot initially assuming some parameters and confirming its assumptions during the course of the design;when unable to do so, it iterates with different assumptions until they are met;the code also selects various materials to be used from a corresponding database;A database of various materials from their manufacturers/suppliers;The output data is interfaced with a CAD engine, which generates a 3-D solid model of the vehicle;A "Bill of Materials" file is generated as the output and suggestions for how to assemble them are given. The method has been tested by designing a small mobile robot. The software provides an excellent tool to develop a mobile robot based on performance specifications. Modeling helps the user understand the constraints on the design of the robot and the bill of materials - along with the vendor address, helps the user buy the components needed to assemble the robot.

关键词： expert system automated design solid modeling mobile robots

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VideoTrek: A vision System for a Tag-along Robot

VideoTrek: A Vision System for a Tag-along Robot

引用

IEEE-computer-Society conference on computer vision and Pattern Recognition Workshops

作者： Naroditsky, Oleg Zhu, Zhiwei Das, Aveek Samarasekera, Supun Oskiper, Taragay Kumar, Rakesh Sarnoff Corp Princeton NJ 08540 USA

ISBN: (纸本)9781424439928

We present a system that combines multiple visual navigation techniques to achieve GPS-denied, non-line-of-sight SLAM capability for heterogeneous platforms. Our approach builds on several layers of vision algorithms, including sparse frame-to-frame structure from motion (visual odometry), a Kalman filter for fusion with inertial measurement unit (IMU) data and a distributed visual landmark matching capability with geometric consistency verification. We apply these techniques to implement a tag-along robot, where a human operator leads the way and a robot autonomously follows. We show results for a real-time implementation of such a system with real field constraints on CPU power and network resources.

关键词： intelligent robots

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Derivative structures - a step toward knowledge and vision engines

Derivative structures - a step toward knowledge and vision e...

引用

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

作者： Kuvychko, I Consultant (United States)

ISBN: (纸本)0819434302

This article shows how graph and diagrammatic structures could evolve into the more abstract ones that carry knowledge about the originals in form of relations and hierarchies. They can play a role of context, or "measurement device", giving the ability to analyze. Such derivative structures can drive processes in distributed networks, like firing a spatio-temporal pattern, creating another structure, etc., therefore, performing top-bottom algorithms. In the mid-80 PDP group came closely to the problem of knowledge representation by distributed graphs called "schemata". Their models were based on the neural networks. I argue that the actual level of problems that neural network can solve is lower than required for knowledge representation. The "hardware unit" of intelligence could rather be a "neural assembly'' that combines both discrete and continuous features, and is able to perform both diagrammatic and graphs operations, being the basis of intelligence. The representation of such "neural assembly" as a fuzzy logic unit with active kernel and less active fuzzy boundaries is proposed. Such units can make logical operations spatially and temporarily, acting on a diagrammatic manner. Connections between the set of such activated units make spatio-temporal pattern really looking like a set of nodes connected via links on more abstract level. The article shows that image understanding is the area where derivative structures play important role, making images and scenes self-describing without any word description, and truly invariant to any transformations. That opens way to the new technologies in computer vision and image databases.

关键词： image understanding generic knowledge representation derivative structures knowledge & vision engines

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Surface roughness estimation of shot blasted steel bars using machine vision

Surface roughness estimation of shot blasted steel bars usin...

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

作者： Lydén, S Kälviäinen, H Nykänen, J Lappeenranta Univ Technol Dept Informat Proc FIN-53851 Lappeenranta Finland Imatra Steel Imatra FIN-55100 Imatra Finland

ISBN: (纸本)081945561X

During the manufacturing process steel bars are cleaned of roll scale by shot blasting, before further processing the bars by drawing. The main goal of this project is to increase the automation of the shot blasting process by machine vision. For this purpose a method is needed for estimating the surface roughness and other anomalies from the steel bars from digital images after the shot blasting. The goal of this method is to estimate if the quality of shot blasting is sufficient considering the quality of the final products after the drawing. In this project a method for normalising the images is considered and several methods for estimating the actual roughness level are experimented. During the experiments a best method was one where the roughness levels are calculated directly from the images as if the images were similar to other measuring sources and the grey-level values in the images represent the deviation on the bar surface. This at least separates the different samples.

关键词： shot blasting steel bars surface roughness image processing machine vision differential evolution

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