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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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The 11^TH Annual intelligent Ground Vehicle Competition:: team approaches to intelligent driving and machine vision

The 11<SUP>TH</SUP> Annual Intelligent Ground Vehicle Compet...

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conference on intelligent robots and computer vision XXI

作者： Theisen, BL Lane, GR USA Tank Automot ResDev & Engn Ctr Warren MI USA

ISBN: (纸本)081945155X

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. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 11 years, the competition has challenged both undergraduates and graduates, including Ph.D. students with real world applications in intelligent transportation systems, the military, and manufacturing automation. To date, teams from over 40 universities and colleges have participated. In this paper, we describe some of the applications of the technologies required by this competition, and discuss 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 robots autonomous systems ground vehicles engineering education IGVC

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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...

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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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Watching elderly and disabled person's physical condition by remote controlled monorail robot

Watching elderly and disabled person's physical condition by...

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

作者： Nagasaka, Y Matsumoto, Y Fukaya, Y Takahashi, T Takeshita, T Chubu Univ High Technol Res Ctr Kasugai Aichi 4878501 Japan

ISBN: (纸本)081944300X

We are developing a nursing system using robots and cameras. The cameras are mounted on a remote controlled monorail robot which moves inside a room and watches the elderly. It is necessary to pay attentions to the elderly at home or nursing homes all time. This requires staffs to pay attentions to them at every time. The purpose of our system is to help those staffs. This study intends to improve such situation. A host computer controls a monorail robot to go in front of the elderly using the images taken by cameras on the ceiling. A CCD camera is mounted on the monorail robot to take pictures of their facial expression or movements. The robot sends the images to a host computer that checks them whether something unusual happens or not. We propose a simple calibration method for positioning the monorail robots to track the move of the elderly for keeping their face at center of camera view. We built a small experiment system, and evaluated our camera calibration method and image processing algorithm.

关键词： nursing robot system camera calibration stereoscopic vision color detection

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Improved Obstacle Avoidance and Navigation for an Autonomous Ground Vehicle 32

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

作者： Giri, Binod Cho, Hyunsu Williams, Benjamin C. Tann, Hokchhay Shakya, Bicky Bharam, Vishal Ahlgren, David J. Trinity Coll Hartford CT 06106 USA

ISBN: (纸本)9781628414967

This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

关键词： Global Positioning System robots Image processing Sensors Navigation systems Cameras computer architecture Control systems Remote sensing Unmanned systems

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Transformation of light double cones in the human retina: The origin of trichromatisme, of 4D-spatiotemporal vision and of patchwise 4D Fourier transformation in Talbot imaging

Transformation of light double cones in the human retina: Th...

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

作者： Lauinger, N CORRSYS GmbH (Germany)

ISBN: (纸本)0819426407

The interpretation of the ''inverted'' retina of primates as an ''optoretina'' (a light cones transforming diffractive cellular 3D-phase grating) integrates the functional, structural, and oscillatory aspects of a cortical layer. It is therefore relevant to consider prenatal developments as a basis of the macro-and micro-geometry of the inner eye. This geometry becomes relevant for the postnatal trichromatic: synchrony organization (TSO) as well as the adaptive levels of human vision (28 - 33). It will be shown that the functional performances, the trichromatisme in photopic vision, the monocular spatiotemporal 3D- and 4D-motion detection, as well as the Fourier optical image transformation. with extraction of invariances all became possible, To transform light cones into reciprocal gratings especially the spectral phase conditions in the eikonal of the geometrical optical imaging before the retinal 3D-grating become relevant first, then in the von Laue resp. reciprocal van Lane equation for 3D-grating optics inside the grating and finally in the periodicity of Talbot-/Fresnel-planes in the near-field behind the grating. It is becoming possible to technically realize - at least in same specific aspects - such a cortical optoretina sensor element with its typical hexagonal-concentric structure which leads to these visual functions.

关键词： retina human vision trichromatisme spatiotemporal vision Talbot imaging Patterson function Harker synthesis trichromatic synchrony organization

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SPATIOTEMPORAL TOPOLOGY AND TEMPORAL SEQUENCE IDENTIFICATION WITH AN ADAPTIVE TIME-DELAY NEURAL-NETWORK 12

SPATIOTEMPORAL TOPOLOGY AND TEMPORAL SEQUENCE IDENTIFICATION...

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

作者： LIN, DT LIGOMENIDES, PA DAYHOFF, JE UNIV MARYLAND DEPT ELECT ENGNCYBERNET RES LABCOLL PKMD 20742

ISBN: (纸本)0819413208

Inspired from the time delays that occur in neurobiological signal transmission, we describe an adaptive time delay neural network (ATNN) which is a powerful dynamic learning technique for spatiotemporal pattern transformation and temporal sequence identification. The dynamic properties of this network are formulated through the adaptation of time-delays and synapse weights, which are adjusted on-line based on gradient descent rules according to the evolution of observed inputs and outputs. We have applied the ATNN to examples that possess spatiotemporal complexity, with temporal sequences that are completed by the network. The ATNN is able to be applied to pattern completion. Simulation results show that the ATNN learns the topology of a circular and figure eight trajectories within 500 on-line training iterations, and reproduces the trajectory dynamically with very high accuracy. The ATNN was also trained to model the Fourier series expansion of the sum of different odd harmonics. The resulting network provides more flexibility and efficiency than the TDNN and allows the network to seek optimal values for time-delays as well as optimal synapse weights.

关键词： Neural networks Robot vision robots computer vision technology Image segmentation Machine vision Signal processing Adaptive optics Analytical research Network architectures

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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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Moving target detection through omniorientational vision fixed on AGV

Moving target detection through omniorientational vision fix...

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

作者： Yang Shu-Ying Cao Zuo-Liang He Pei-Lian Tianjin Univ Tianjin 300072 Peoples R China Tianjin Univ Technol Tianjin 300191 Peoples R China

ISBN: (纸本)0819464821

Extremely wide view of the onmi-vision performs highly advanced for the vehicle navigation and target detection. However moving targets detection through omni-vision fixed on AGV (Automatic Guided Vehicle) involves more complex environments, where both the targets and the vehicle are in the moving condition. The moving targets will be detected in a moving background. After analyzing the character on orriniorientational vision and image, we propose to use the estimation in optical flow fields, Gabor filter over optical flow fields for detecting moving objects. Because polar angle theta and polar radius R of polar coordinates are being changed as the targets moving, we improved optical flow approach which can be calculated based on the polar coordinates at the oniniorientational center. We constructed Gabor filter which has 24 orientations every 15', and filter optical flow fields at 24 orientations. By the contrast of the Gabor filter images at the same orientation and the same AGV position between the situation which there aren't any moving targets in the environment and the situation which there are some moving targets in the same environment, the moving targets' optical flow fields could be recognized. Experiment results show that the proposed approach is feasible and effective.

关键词： optical flow omniorientational vision Gabor filters

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Localization of significant 3D objects in 2D images for generic vision tasks

Localization of significant 3D objects in 2D images for gene...

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

作者： Mokhtari, M Bergevin, R UNIV LAVAL DEPT ELECT & COMP ENGNCOMP VIS & SYST LABST FOYPQ G1K 7P4CANADA

ISBN: (纸本)0819419524

computer vision experiments are not very often linked to practical applications but rather deal with typical laboratory experiments under controlled conditions. For instance, most object recognition experiments are based on specific models used under limitative constraints. Our work proposes a general framework for rapidly locating significant 3D objects in 2D static images of medium to high complexity, as a prerequisite step to recognition and interpretation when no a priori knowledge of the contents of the scene is assumed. In this paper, a definition of generic objects is proposed, covering the structures that are implied in the image. Under this framework, it must be possible to locate generic objects and assign a significance figure to each one from any image fed to the system. The most significant structure in a given image becomes the focus of interest of the system determining subsequent tasks (like subsequent robot moves, image acquisitions and processing). A survey of existing strategies for locating 3D objects in 2D images is first presented and our approach is defined relative to these strategies. Perceptual grouping paradigms leading to the structural organization of the components of an image are at the core of our approach.

关键词： computer vision perceptual organization generic object localization mobile vehicle guidance multi-scale perceptual grouping

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Multilevel test and validation of algorithms implemented in a SOPC visionNode

Multilevel test and validation of algorithms implemented in ...

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conference on intelligent robots and computer vision XXI

作者： Sluiter, A Hartmann, K Hasenmaier, B Rost, M Stieler, D Weihs, W Univ Siegen Ctr Sensor Syst D-57076 Siegen Germany

ISBN: (纸本)081945155X

This paper describes results of a tool development process and still on-going research program in multilevel algorithm design and validation for multisensor systems. Our work covers both the algorithm design process including the simulation efforts and the implementation of the algorithms into the sensor node prepared for real-time processing within a vision system network. The sensor node hardware is based on the System on Programmable Chip (SOPC)-Technology. This gives us the flexibility to interface different kinds of sensor elements (matrix-, line-sensors) and the processing-power to provide real-time possibilities in height data-rate applications. At the point today our hardware module for vision applications also uses a CPU module. This results in a high flexibility concerning the communication efforts. Our design can provide the use of CPU-modules within the SOPC design also. Mapping algorithms into a distributed sensor network will be done in either a centralized or decentralized way. That means the algorithm will be running on one sensor node or a part of the algorithm is implemented on some others nodes within the network. Beginning at the design and simulation level different kind of levels are opened for optimization, test and validate the developed algorithm. We present the architectural framework that supports the multilevel test and validation process.

关键词： Algorithm development Simulink Sensors Field programmable gate arrays Detection and tracking algorithms MATLAB computer architecture computer simulations Data communications Image processing

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