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

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Interacting with personal robots and smart environments

Interacting with personal robots and smart environments

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

作者： Röning, J Kangas, K Univ Oulu Dept EE Comp Engn Lab FIN-90401 Oulu Finland

ISBN: (纸本)0819434302

In the future, interaction between humans and personal robots will become increasingly important as robots will, more and more, operate as assistants in our everyday life. Because of this, there is a need for a convenient, flexible, and general-purpose technique that we can use to interact with robots. Moreover, the same technique should also be usable when we interact with embedded systems in smart environments. In this paper, we will describe a technique that allows us to use a single simple handheld control device to interact not only with personal robots, but also with ubiquitous embedded systems. When a new system, whether a mobile robot or a VCR, is encountered, the control device downloads a mobile code from the system and executes it. The mobile code then uses the services provided by the control device to create a virtual user interface that we can use to interact with the particular system. Our technique is flexible, simple, adaptive, and open. The technique draws much of its flexibility and simplicity from the mobile code. Adaptivity comes from the fact that the control device only needs minimal knowledge about each particular system. In addition, the technique does not place any restrictions on the type of mobile code that can be used. We will describe the architecture of the CUES system that utilizes our technique. We will also describe the architecture of the SMAF system, our test bed mobile code execution environment used in CUES. In addition, we will present a virtual user interface for a mobile robot that we can use to control the robot and to monitor its status information. The interface also operates as a terminal that we can use to access remote information in the Internet.

关键词： mobile code ubiquitous computing human-computer interaction embedded systems smart environments mobile robots

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Adaptive visual tracking of moving object with neural-PID controller

Adaptive visual tracking of moving object with neural-PID co...

引用

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

作者： Zhu, LC Fujimoto, H Sano, A Yamakawa, S Nagoya Inst Technol Dept Syst Engn Showa Ku Nagoya Aichi 4668555 Japan

ISBN: (纸本)0819438626

In this paper, an adaptive approach is presented to nonlinear system for real-time robotic visual tracking of a moving polyhedral object. A light stripe vision system consists of a laser-stripe sensor and a CCD camera fixed to robot end-effector, and projects planar light on the polyhedral object. The geometric conditions can be provided to assure location of features of the polyhedral faces. The objective is to predict the location of features of the object on the image plane based on the light stripe vision system and then to determine an optimal control input that will move the camera so that the image features align with their desired positions. We first give the equations of observation and state-space by using the motion rules of the camera and the object. Then, the system can be represented as an MIMO ARMAX model and an efficient estimation model. The estimation model can process on-line estimation of the 3D related parameters between the camera and the object. Those parameters are used to calculate the system sensitivity of a neural network. The control scheme adopts a neural-PID controller that can adjust the PID controller parameters. The paper concludes with the simulation results and the computer simulation shows that the proposed method is effective to visual tracking of combining vision and control.

关键词： adaptive visual tracking neural-PID control nonlinear system light stripe vision system optical flow

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Phobetor: Princeton University's Entry in the 2010 intelligent Ground Vehicle Competition

<i>Phobetor</i>: Princeton University's Entry in the 2010 In...

引用

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

作者： Newman, Joshua Zhu, Han Partridge, Brenton A. Szocs, Laszlo J. Abiola, Solomon O. Corey, Ryan M. Suresh, Srinivasan A. Yu, Derrick D. Princeton Univ Dept Elect Engn Princeton NJ 08544 USA Princeton Univ Dept Mech & Aerosp Engn Princeton NJ 08544 USA

ISBN: (纸本)9780819484154

In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x increase in obstacle detection speed using parallel processing and robust lane detection results. Phobetor also uses probabilistic local mapping to learn about its environment and Anytime Dynamic A* (AD*) to plan paths to reach its goals. Our vision software is based on color stereo images and uses robust, RANSAC-based algorithms while running fast enough to support real-time autonomous navigation on uneven terrain. AD* allows Phobetor to respond quickly in all situations even when optimal planning takes more time, and uses incremental replanning to increase search efficiency. We augment the cost map of the environment with a potential field which addresses the problem of "wall-hugging" and smoothes generated paths to allow safe and reliable path-following. In summary, we present innovations on Phobetor that are relevant to real-world robotics platforms in uncertain environments.

关键词： robotics IGVC stereo vision lane detection IPC cost map path planning

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Obstacle recognition using region-based color segmentation techniques for mobile robot navigation

Obstacle recognition using region-based color segmentation t...

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

作者： McKeon, Robert T. Krishnan, Mohan Paulik, Mark Univ Detroit Mercy Dept Elect & Comp Engn Detroit MI 48221 USA

ISBN: (纸本)0819464821

This work has been performed in conjunction with the ECE Department's autonomous vehicle entry in the 2006 intelligent Ground Vehicle Competition (***). The course to be traversed in the competition consists of a lane demarcated by paint lines on grass along with other challenging artifacts such as a sandpit, a ramp, potholes, colored tarps, and obstacles set up using orange and white construction barrels. In this paper an enhanced obstacle detection and mapping algorithm based on region-based color segmentation techniques is described. The main purpose of this algorithm is to detect obstacles which are not properly identified by the LADAR (Laser Detection and Ranging) system optimally mounted close to the ground, due to "shadowing" occasionally resulting in bad navigation decisions. On the other hand, the camera that is primarily used to detect the lane lines is mounted at 6 feet. In this work we concentrate on the identification of orange/red construction barrels. This paper proposes a generalized color segmentation technique which is potentially more versatile and faster than traditional full or partial color segmentation approaches. The developed algorithm identifies the shadowed items within the camera's field of vision and uses this to complement the LADAR information, thus facilitating an enhanced navigation strategy. The identification of barrels also aids in deleting bright objects from images which contain lane lines, which improves lane line identification.

关键词： image color analysis image processing image segmentation object recognition

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Integrated robotic vehicle control system for outdoor container handling

Integrated robotic vehicle control system for outdoor contai...

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

作者： Viitanen, J Haverinen, J Mattila, P Makela, H vonNumers, T Stanek, Z Roning, J VTT Automation (Finland) Univ. of Oulu (Finland)

ISBN: (纸本)0819426407

We describe an integrated system developed for use onboard a moving work machine. The machine is targeted to such applications as e.g. automatic container handling at loading terminals. The main emphasis is on the various environment perception duties required by autonomous or semi-autonomous operation. These include obstacle detection, container position determination, localization needed for efficient navigation and measurement of docking and grasping locations of containers. Practical experience is reported on the use of several different types of technologies for the tasks. For close distance measurement, such as container row following, ultrasonic measurement was used, with associated control software. For obstacle and docking position detection, 3D active vision techniques were developed with structured lighting, utilizing also motion estimation techniques. Depth from defocus-based methods were developed for passive 3D vision. For localization, fusion of data from several sources was carried out. These included dead-reckoning data from odometry, an inertial unit, and several alternative external localization devices, i.e. real-time kinematic GPS, inductive and. optical transponders. The system was integrated to run on a real-time operating system platform, using a high-level software specification tool that created the hierarchical control structure of the software. Testing of the integrated system included real outdoor task execution on a light tractor.

关键词： robotics robot vision mobile robotics navigation environment perception localization 3D vision

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Active vision and sensor fusion for inspection of metallic surfaces

Active vision and sensor fusion for inspection of metallic s...

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

作者： Leon, FP Beyerer, J Univ. Karlsruhe (Germany)

ISBN: (纸本)0819426407

This paper deals with strategies for reliably obtaining the edges and the surface texture of metallic objects. Since illumination is a critical aspect regarding robustness and image quality, it is considered here as an active component of the image acquisition system. The performance of the methods presented is demonstrated -among other examples -with images of needles for blood sugar tests. Such objects show an optimized form consisting of several planar grinded surfaces delimited by sharp edges. To allow a reliable assessment of the quality of each surface, and a measurement of their edges, methods for fusing data obtained with different illumination constellations were developed. Tile fusion strategy is based on the minimization of suitable energy functions. First, an illumination-based segmentation of the object is performed. To obtain the boundaries of each surface, directional light-field illumination is used. By formulating suitable criteria, nearly binary images are selected by variation of the illumination direction. Hereafter, the surface edges are obtained by fusing the contours of the areas obtained before. Following, an optimally illuminated image is acquired for each surface of the object by varying the illumination direction. For this purpose, a criterion describing the quality of the surface texture has to be maximized, Finally, the images of all textured surfaces of the object are fused to an improved result, in which the whole object is contained with high contrast. Although the methods presented were designed for inspection of needles, they also perform robustly in other computer vision tasks where metallic objects have to be inspected.

关键词： surface image acquisition image contrast sensor fusion illumination series active vision

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Obstacle avoidance using predictive vision based on a dynamic 3D world model

Obstacle avoidance using predictive vision based on a dynami...

引用

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

作者： Benjamin, D. Paul Lyons, Damian Achtemichuk, Tom Pace Univ Dept Comp Sci 1 Pace Pl New York NY 10038 USA Fordham Univ Dept Comp & Informat Sci Bronx NY 10458 USA

ISBN: (纸本)0819464821

We have designed and implemented a fast predictive vision system for a mobile robot based on the principles of active vision. This vision system is part of a larger project to design a comprehensive cognitive architecture for mobile robotics. The vision system represents the robot's environment with a dynamic 3D world model based on a 3D gaming platform (Ogre3D). This world model contains a virtual copy of the robot and its environment, and outputs graphics showing what the virtual robot "sees" in the virtual world;this is what the real robot expects to see in the real world. The vision system compares this output in real time with the visual data. Any large discrepancies are flagged and sent to the robot's cognitive system, which constructs a plan for focusing on the discrepancies and resolving them, e.g. by updating the position of an object or by recognizing a new object. An object is recognized only once;thereafter its observed data are monitored for consistency with the predictions, greatly reducing the cost of scene understanding. We describe the implementation of this vision system and how the robot uses it to locate and avoid obstacles.

关键词： mobile robotics active vision cognitive architecture predictive vision

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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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MORPHOLOGICAL SEGMENTATION OF MULTIPROBE FLUORESCENCE IMAGES FOR IMMUNOPHENOTYPING IN MELANOMA TISSUE-SECTIONS 12

MORPHOLOGICAL SEGMENTATION OF MULTIPROBE FLUORESCENCE IMAGES...

引用

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

作者： DOW, AI SHAFER, SA WAGGONER, AS CARNEGIE MELLON UNIV CTR LIGHT MICROSCOPE IMAGING & BIOTECHNOLPITTSBURGHPA 15213

ISBN: (纸本)0819413208

A fundamental task in studying the action of cancer chemotherapy is to determine the quantity and spatial relationship of tumor-infiltrating lymphocyte populations. Classically this is performed by staining thin tissue sections with antibodies by immunoperoxidase amplification. The staining technique is practically limited to locating a single cell type per tissue section. Full immunophenotyping requires successive staining of serial sections, using statistical analysis to correlate the results. This paper describes a system that brings together multi- parameter fluorescence imaging and morphological segmentation techniques to provide a fast, accurate, and automatic analysis of the lymphocyte infiltrate in tissue sections. With fluorescence techniques a single section can be stained with up to four distinct fluorescently labelled antibodies to determine cell phenotypes. To harness this potential computer vision techniques are required to analyze the images. A routine based on the water shed algorithm has been developed that segments the nuclei image with an accuracy of greater than 90%. By matching the nuclei boundaries to the local peak fluorescence, cell boundary estimates are obtained in the antigen images. By then extracting two measurements from the boundary signal the cells can be classified according to their antigen expression. Determining cell expression of multiple antigens simultaneously provides a more detailed and accurate picture of the tumor infiltrate than single parameter analysis, and increases understanding of the immune response associated with the chemotherapy.

关键词： Image segmentation Tissues Luminescence computer vision technology Machine vision Image filtering Robot vision robots Image analysis Melanoma

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The effect of different thresholding methods in RGB Imaging

The effect of different thresholding methods in RGB Imaging

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

作者： Miettinen, J Ailisto, H VTT Elect FIN-90571 Oulu Finland

ISBN: (纸本)081944300X

Typical surface inspection tasks using RGB vision require the analysis of tens of megabytes of image data per second, with low false alarm and error escape rates. Although automatic inspection systems have become more common on production lines, for example in sawmills, there are substantial needs to improve their performance and accuracy. Detection is one very important part of image flow before defect recognition. Detection is used in order to find suspicious regions of the image, containing possibly defective areas, since defect detection has to cope with very high data rates. It has to be based on relative simple methods. In this paper we describe the effect of different thresholding methods in RGB defect detection. Threshold values were calculated for R, G and B channels, difference channels \R-G\, \R-B\ and \G-B\ and for mean values from R, G and B channels. The analysis was performed for pine-wood. Error escape rate and false alarm rates were used as evaluation criteria. In this paper, R and G channel thresholding methods were the best ones.

关键词： machine vision detection threshold color wood

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