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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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Automatic calibration and neural networks for robot guidance

Automatic calibration and neural networks for robot guidance

引用

conference on intelligent robots and computer vision XXI

作者： Sethuramasamyraja, B Ghaffari, M Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

An autonomous robot must be able to sense its environment and react appropriately in a variable environment. The University of Cincinnati Robot team is actively involved in building a small, unmanned, autonomously guided vehicle for the International Ground Robotics Contest organized by Association for Unmanned Vehicle Systems International (AUVSI) each year. The unmanned vehicle is supposed to follow an obstacle course bounded by two white/yellow lines, which are four inches thick and 10 feet apart. The navigation system for one of the University of Cincinnati's designs, Bearcat, uses 2 CCD cameras and an image-tracking device for the front end processing of the image captured by the cameras. The three dimensional world co-ordinates were reduced to two dimensional image coordinates as a result of the transformations taking place from the ground plane to the image plane. A novel automatic calibration system was designed to transform the image co-ordinates back to world co-ordinates for navigation purposes. The purpose of this paper is to simplify this tedious calibration using an artificial neural network. Image processing is used to automatically detect calibration points. Then a back projection neural algorithm is used to learn the relationships between the image coordinates and three-dimensional coordinates. This transformation is the main focus of this study. Using these algorithms, the robot built with this design is able to track and follow the lines successfully.

关键词： calibration robotics neural network robot guidance robot vision

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Internet-based control for the intelligent unmanned ground vehicle: Bearcat cub

Internet-based control for the intelligent unmanned ground v...

引用

conference on intelligent robots and computer vision XXI

作者： Ghaffari, M Narayanan, S Sethuramasamyraja, B Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

Secure remote access with inter-operatability for operating a robot can be successfully achieved using the web services provided in the NET framework. The complete design of the machine discussed in this paper is made on the NET framework. The server which operates the robot is configured to US. The algorithm for obstacle detection is coded on a different server using the NET framework. By using web services, the robot can be accessed by other servers. These web services are consumed by the server on which the robot executes. A proxy is created on this server. The whole control is given in the form of a series of web pages which can be accessed by any web browser. However in order to input parameters and control the robot, authentication is required. The user provides authentication credentials which are matched with the existing information on the data base. After authentication, the user proceeds further to control the robot. The security and reliability of remote access is provided by the components that come with the web services namely, SOAP, WSDL and Proxy.

关键词： robotics .NET remote control tele-robotics Internet-based control unmanned ground vehicle

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Autonomous cross country driving using Active vision

Autonomous cross country driving using Active Vision

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conference on intelligent robots and computer vision XXI

作者： Pellkofer, M Hofmann, U Dickmanns, ED Siemens VDO Automot AG D-93055 Regensburg Germany

ISBN: (纸本)081945155X

For robust and safe cross country driving, an autonomous ground vehicle must be able to handle conflicts, which may arise from limitations of perception performance, of the dynamics of the vehicle's active camera head and from the feasibility of locomotion maneuvers. This paper describes the interaction and coordination of image processing, gaze control and behavior decision. The behavior decision module specifies the perception tasks for the image processing experts according to the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. Depending on its perception task received, an image processing expert specifies combinations of socalled rep-ions of attention (RoA) for each object in 3D object coordinates. These RoA cover relevant object parts and should be visible with a resolution and in a manner as required by the measurement techniques applied. The gaze control unit analyzes the combinations of RoA of all image processing experts in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. This dynamic interaction has been demonstrated in different complex and scalable autonomous missions with the UBM test vehicle VAMORS. The mission described in this paper makes the vehicle meet an unexpected ditch of unknown size and position forcing the vehicle to reactive behavior regarding locomotion, gaze control as well as image processing.

关键词： active vision autonomous vehicles cross country driving detection of negative obstacles stereo vision

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Visual inspection on paper by machine vision

Visual inspection on paper by machine vision

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conference on intelligent robots and computer vision XXI

作者： Kälviäinen, H Saarinen, P Salmela, P Sadovnikov, A Drobchenko, A Lappeenranta Univ Technol Dept Informat Technol Lab Informat Proc FIN-53851 Lappeenranta Finland

ISBN: (纸本)081945155X

There are several important standard laboratory experiments for determining the quality of produced paper in the paper making industry. To know the quality is essential since it defines the use of paper for various purposes. Moreover, customers are expecting a certain degree of quality. Many of paper printability tests are based on off-fine visual inspection. Currently these tests are done by printing test marks on a piece of paper and then observing the quality by a human evaluator. In this report visual inspection on paper by machine vision is discussed from a point of off-line industrial measurements. The work focuses on the following paper printability problems: missing dots (Heliotest), print dot density, unevenness of printing image, surface strength (IGT), ink setting, tinting, fiber counting, and digital printing. Compared to visual inspection by human evaluation, automated machine vision systems could offer several useful advantages: less deviations in measurements, better measurement accuracy, new printability parameters, shorter measurement times, less manpower to monotonic measurements, many quality parameters by one system, and automatic data transfer to mill level information systems. Current results with paper and board samples indicate that human evaluators could be replaced. However, further research is needed since the printability problems vary mill by mill, there is a large number of various paper and board samples, and the relationships between off-line and on-fine measurements must be considered.

关键词： paper printability paper making industry visual inspection machine vision image processing image analysis

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Illuminant-adaptive diffractive-optical RGB-color sensor: 3D grating-optical cross-correlator calculating colored shadows in human vision.

Illuminant-adaptive diffractive-optical RGB-color sensor: 3D...

引用

conference on intelligent robots and computer vision XXI

作者： Lauinger, N DATRON Sensorsyst GmbH CORRSYS Wetzlar Germany

ISBN: (纸本)081945155X

Colored shadows are observed when two differently colored lights are combined in twilights. When both lights add to an equi-energy white 'balanced' spectrum, the hues of the shadows show regular opponent colors, being reciprocals of the colors of the lights. When a white and a colored light in a twilight add to an 'unbalanced' spectrum, the hues of the shadows result from the same laws of opponency and reciprocity, but the eyes see "what they have optically calculated" instead of seeing "what really (physically) there is". At adaptation to the colored light, unbalanced states in physics become physiologically re-balanced by diffractive-optical chromatic resonance, guaranteeing color constancy at variations of illuminants. Colored shadows can be interpreted as serial products of diffractive 3D :grating-optical von Laue interferences and of optical cross-correlations between local and global information in the human eye. The human eye's hardware, with diffractive-optical multi-layer gratings in aperture and image space, represents an illuminant-adaptive diffractive-optical RGB Color Sensor guaranteeing color space normalization towards RGB equilibrium states (RGB white norms) in reciprocal grating space.

关键词： RGB color model Eye Bismuth Silicon Sun Visible radiation Physics Colorimetry Diffraction Diffraction gratings

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Autonomous mental development in high dimensional state and action spaces

Autonomous mental development in high dimensional state and ...

引用

International Joint conference on Neural Networks (IJCNN)

作者： A. Joshi Juyang Weng Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Autonomous mental development (AMD) of robots opened a new paradigm for developing machine intelligence, using neural network type of techniques and it fundamentally changed the way an intelligent machine is developed from manual to autonomous. The work presented is a part of SAIL (self-organizing autonomous incremental learner) project which deals with autonomous development of entire humanoid robot with vision, audition, manipulation and locomotion. The major issue addressed is the challenge of high dimensional action space (5 to 10) in addition to the high dimensional context state space (hundreds to thousands and beyond), typically required by an AMD machine. This is the first work that studies a high dimensional (numeric) action space in conjunction with a high dimensional perception (context state) space, under the AMID mode. Two new learning algorithms, Direct Update on Direction Cosines (DUDC) and High-Dimensional Conjugate Gradient Search (HCGS), are developed, implemented and tested. The convergence properties of both the algorithms and their targeted applications are discussed. Autonomous learning of speech production under reinforcement learning is studied as an example.

关键词： Autonomous mental development intelligent robots Orbital robotics Machine intelligence Neural networks intelligent networks Learning systems Manuals Humanoid robots State-space methods

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Dynamic vision systems for intelligent robots

Dynamic vision systems for intelligent robots

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

作者： Nguyen, MC Bui, DT TUM Dept Comp Sci Munich Germany

ISBN: (纸本)081944300X

The logical structure of robot vision systems is introduced. It can be used as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four hierarchical levels where at each level knowledge representation in the form of partial models and data fusion complement each other. Multi-processor architectures supporting this type of structure are introduced as a particularly efficient basis for robot vision systems. Practical implementation is given.

关键词： dynamic vision systems intelligent robots robot vision

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Efficient discrimination of active lighting in machine vision

Efficient discrimination of active lighting in machine visio...

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

作者： Viitanen, J VTT Automation (Finland)

ISBN: (纸本)081944300X

A new optical arrangement is introduced for such applications of machine vision that need to discriminate structured laser lighting from stray ambient lighting. Instead of using transmissive filters that usually have high attenuation, a double reflective filter arrangement is presented. A combination of dielectric and metallic mirrors achieves steep stopband attenuation especially in the near infrared region where Si detectors are sensitive and common blackbody-like radiators have high spectral density. An additional advantage follows from the compact size of such a Maksutov-type mirror telescope. Compared to a corresponding refractive design, the length is reduced to less than half.

关键词： Light sources and illumination Machine vision Lithium Mirrors Optical filters Signal attenuation Active vision computer vision technology Robot vision robots

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intelligent robot trends and predictions for the .Net future

Intelligent robot trends and predictions for the .Net future

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

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

ISBN: (纸本)081944300X

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent and future technical and economic trends. During the past twenty years the use of industrial robots that are equipped not only with precise motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. intelligent robot products have been developed in many cases for factory automation and for some hospital and home applications. To reach an even higher degree of applications, the addition of learning may be required. Recently, learning theories such as the adaptive critic have been proposed. In this type of learning, a critic provides a grade to the controller of an action module such as a robot. The adaptive critic is a good model for human learning. In general, the critic may be considered to be the human with the teach pendant, plant manager, line supervisor, quality inspector or the consumer. If the ultimate critic is the consumer, then the quality inspector must model the consumer's decision-making process and use this model in the design and manufacturing operations. Can the "adaptive critic" be used to advance intelligent robots? intelligent robots have historically taken decades to be developed and reduced to practice. Methods for speeding this development include technology such as rapid prototyping and product development and government, industry and university cooperation.

关键词： intelligent robots mechatronics industrial robots artificial intelligence adaptive critic

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Matching shape descriptions of objects

Matching shape descriptions of objects

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

作者： Shrikhande, N Kulkarni, M Cent Michigan Univ Dept Comp Sci Mt Pleasant MI 48859 USA

ISBN: (纸本)081944300X

A model of an object is an image consisting of features of die object. The input is a gray scale image from which features are computed. In his doctoral thesis [7] J. L. Chen used a model based approach for object recognition. His method is based on Rosin's work [26] for extraction of parts. Both model and scene features are contour based properties. Properties of each part such as area, compactness, convexity etc. are computed and used to match the scene image to the model. This paper extends the algorithm in several directions. The contours are improved using two passes over the initial input image. The notion of internal part or base of an object is introduced and used to normalize the part areas. Insignificant parts are merged with neighboring parts to provide a better segmentation of the scene. Interpretation trees are used to match scene to object. The algorithm is tested on simple hand drawn images and also images of buildings obtained from architectural databases.

关键词： computer vision object recognition image processing

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