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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291-300 订阅

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Diffraction of light by 3D hexagonal phase gratings: Applications for robotic color vision

Diffraction of light by 3D hexagonal phase gratings: Applica...

引用

Proceedings of the 1998 conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

作者： Carbon, Margarita A. Boeing Co Canoga Park CA United States

Diffraction of light by 3D phase grating layers could be effectively used for color image processing in robotic vision. Gratings with hexagonal close-packed structures have the maximum amount of cells per volume unit, which leads to an advantage for color image processing. Using the 4D spectral method, we solve the wave equation for diffraction of light by a 3D hexagonal phase grating layer of spherical particles. Both ABCA and ABAB structures are considered. Distribution of diffracted light intensity is calculated in the Fraunhofer and Fresnel diffraction zones. For particular gating distances, the incident white light diffracts in three spatially separated maximums with the central wavelengths corresponding to the three primary colors. The wavelength dependence of diffracted light intensity, for incident white light, is calculated for the three maximums. In general case, by using these three primary curves one can reconstruct the color of incident light from corresponding values of light intensities measured in the three diffracted maximums. The conditions for self-imaging of 3D grating layers are formulated and investigated. Intensity distributions for diffracted light in planes of positive and negative self-imaging, and in a plane of lowest contrast are computed.

关键词： Robotics

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Design of large-window binary filters via iteration

Design of large-window binary filters via iteration

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Proceedings of the 1998 conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

作者： Hirata, Nina S.T. Dougherty, Edward R. Barrera, Junior Universidade de Sao Paulo Sao Paulo Brazil

Rather than design an optimal filter over a large window, which may be computationally impossible or require unacceptable computation time, one can design an iterative filter, each stage of which is designed over a small window with acceptable design time. Theoretically, a two-stage iterative filter with each stage optimally designed over a window is suboptimal in comparison to the optimal filter over the larger window formed as the dilation of the small window with itself. In practice, however, filters are designed from realizations and lack of precision for design over a large window can result in a directly estimated optimal filter over a large window that performs worse than an iteratively designed filter. Using image-noise models, this paper considers three cases: (1) the designed filters are good estimates of the theoretically optimal filters, the two-stage iterative filter is close to optimal, and as further iterations are considered for both the small and large windows, the performance difference becomes small;(2) the designed filter over the large window is a poor estimate of the theoretically optimal filter and the iteratively designed filter outperforms the directly designed filter;(3) iteration cannot do well because the iteration window is too small for the image-noise model. We will see that, while in terms of logic there may be a significant difference between a noniterative and an approximating iterative filter, their probabilistic difference as operators on random processes can be negligible.

关键词： computer vision

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Joint probabilistic techniques for tracking objects using multiple visual cues

Joint probabilistic techniques for tracking objects using mu...

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IEEE International Workshop on intelligent robots and Systems (IROS)

作者： C. Rasmussen G.D. Hager Center for Computational Vision & Control Yale University New Haven CT USA

robots relying on vision as a primary sensor frequently need to track common objects such as people, cars, and tools in order to successfully perform autonomous navigation or grasping tasks. These objects may comprise many visual parts and attributes, yet image-based tracking algorithms are often keyed to only one of a target's identifying characteristics. In this paper, we present a framework for sharing information among disparate state estimation processes operating on the same underlying visual object. Well-known techniques for joint probabilistic data association are adapted to yield increased robustness when multiple trackers attuned to different visual cues are deployed simultaneously. We also formulate a measure of tracker confidence, based on distinctiveness and occlusion probability, which permits the deactivation of trackers before erroneous state estimates adversely affect the ensemble. We will discuss experiments using color-region- and snake-based tracking in tandem that demonstrate the efficacy of this approach.

关键词： Target tracking Head State estimation Filters computer vision Robustness Switches Technological innovation Current measurement Computed tomography

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Splinter detection of half-cut peaches

Splinter detection of half-cut peaches

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

作者： Vizmanos, JG Fuentes, LM Gutierrez, JA Univ. de Valladolid (Spain) SIFISA (Spain)

A machine vision system has been developed to separate half cut peaches with small splinters from clean ones. The system uses the different spectral profile of both together with an ad hoc illuminating system. The sys... 详细信息

ISBN: (纸本)0819426407

关键词： machine vision real time processing peaches food industry

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intelligent robot trends for factory automation

Intelligent robot trends for factory automation

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

作者： Hall, EL Univ. of Cincinnati (United States)

ISBN: (纸本)0819426407

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 economic and technical trends. The robotics industry now has a billion-dollar market in the U.S. and is growing. Feasibility studies are presented which also show unaudited healthy rates of return for a variety of robotic applications. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. However, the road from inspiration to successful application is still long and difficult, often taking decades to achieve a new product. More cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit both industry and society.

关键词： Factory automation Control systems Robot vision Robotics intelligent sensors Kinematics Motion controllers Roads Sensors

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Establishing joint goals through observation

Establishing joint goals through observation

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

作者： VanWie, M Univ. of Rochester (United States)

ISBN: (纸本)0819426407

When interacting with intelligent agents, it is vital to understand something of their intentions. Agents' itentions provide context in spoken dialog, help to define their future plans (and thus actions), and reveal information about their beliefs. We propose a method by which agents' intentions are inferred by observing their actions. Explicit communication among agents is not permitted. The joint intentions framework(1) specifies the behaviors and obligations of agents that share in a cooperative intention. Our work focuses on the creation of such joint intentions through observation and plan recognition. The plan recognition structure uses Bayes Nets to reason from observations to actions, and Hidden Markov Models to reason from sequences of actions to intent.

关键词： intelligent agents

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Modelling the positioning accuracy of sensor-based robots

Modelling the positioning accuracy of sensor-based robots

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

作者： Jarviluoma, M Heikkila, T VTT Automation Machine Automation FIN-90571 Oulu P.O. Box 13023 Finland

ISBN: (纸本)0819426407

This paper describes a method for expressing and manipulating position and orientation uncertainty in sensor-based robotics. The goal is to formulate a computational framework where the effects of accumulating uncertainties, originating from internal and external sensors, are shown as uncertainties in tool frame positions and orientations. The described method is based on using covariance matrices of position and orientation parameters. The used orientation parameters are xyz Euler angles. There are three different forms of spatial uncertainty and uncertainty manipulation involves transformations between these forms. These transformations are done by using linearisation around nominal relations. Paper presents the basic formulas for these transformations and also three calculation examples.

关键词： spatial uncertainty intelligent robotics sensor fusion

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Hand-eye coordination with an active camera head

Hand-eye coordination with an active camera head

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

作者： Bishay, M Peters, A Wilkes, DM Kawamura, K Rockwell Semiconductor Systems (United States) Vanderbilt Univ. (United States)

ISBN: (纸本)0819426407

Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision - active central of camera position and camera parameters - facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called Fixation Point Servoing (FPS), uses target fixation to eliminate the need for Jacobian computation. Additionally, FPS requires only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.

关键词： robotics visual servoing active vision fixation pan-tilt heads

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Training or inheritance in human vision? A critical test for understanding and engineering of intelligent optical systems

Training or inheritance in human vision? A critical test for...

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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

Inheritance or training in human vision? Training allows individual adaptation to environmental conditions, while genetics determine optimized constant i.e. long-term abilities. The biological engineering of the human eye needs both inheritance and training to realize its high performances. Particularly during postnatal training of an eye, adaptive freedom is necessary and available. To test the part of training it would become necessary to experimentally determine the in vivo refractive index differences between cellular nuclei and cytoplasm in retinal nuclear layers before and after birth to see if diffractive optical tuning of trichromatism in a retinal 3D-grating is synchronized with the differentiation of 3 photopigments in photopic vision or if the specialization in photochemistry depends on crystal-optical preprocessing.

关键词： human vision retina visual pigments colour vision genes in vision training in vision

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Best viewpoints for active vision classification and pose estimation

Best viewpoints for active vision classification and pose es...

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

作者： Sipe, MA Casasent, D Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426407

We advance new active computer vision algorithms that classify objects and estimate their pose from intensity images. Our algorithms automatically re-position the sensor if the class or pose of an object is ambiguous in a given image and incorporate data from multiple object views in determining the final object classification A feature space trajectory (PST) in a global eigenfeature space is used to represent 3-D distorted views of an object. Assuming that an observed feature vector consists of Gaussian noise added to a point on the FST, we derive a probability density function (PDF) for the observation conditioned on the class and pose of the object. Bayesian estimation and hypothesis testing theory are then used to derive approximations to the maximum a posteriori probability pose estimate and the minimum probability of error classifier. New confidence measures for the class and pose estimates: derived using Bayes theory, determine when additional observations are required as well as where the sensor should be positioned to provide the most useful information.

关键词： active vision Bayesian estimation object recognition object representation pose estimation

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