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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41-50 订阅

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7th Mexican conference on Pattern Recognition, MCPR 2015

7th Mexican Conference on Pattern Recognition, MCPR 2015

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7th Mexican conference on Pattern Recognition, MCPR 2015

ISBN: (纸本)9783319192635

The proceedings contain 34 papers. The special focus in this conference is on Pattern Recognition, Artificial intelligent techniques, Image Processing, Robotics and computer vision. The topics include: Recommendation of process discovery algorithms through event log classification;a new method based on graph transformation for FAS mining in multi-graph collections;classification of hand movements from non-invasive brain signals using lattice neural networks with dendritic processing;a different approach for pruning micro-clusters in data stream clustering;computing constructs by using typical testor algorithms;multitask reinforcement learning in nondeterministic environments;prototype selection for graph embedding using instance selection;correlation of resampling methods for contrast pattern based classifiers;boosting the permutation based index for proximity searching;similarity analysis of archaeological potsherds using 3D surfaces;automatic detection of clouds from aerial photographs of snowy volcanoes;a comparative study of robust segmentation algorithms for iris verification system of high reliability;vision-based humanoid robot navigation in a featureless environment;evaluation of local descriptors for vision-based localization of humanoid robots;sampled weighted min-hashing for large-scale topic mining;patterns used to identify relations in corpus using formal concept analysis;improving information retrieval through a global term weighting scheme;sentiment groups as features of a classification model using a Spanish sentiment lexicon;modified binary inertial particle swarm optimization for gene selection in DNA microarray data;encoding polysomnographic signals into spike firing rate for sleep staging and patrolling routes optimization using ant colonies.

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Automatic restoration of underwater monocular sequences of images

Automatic restoration of underwater monocular sequences of i...

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IEEE/RSJ International conference on intelligent robots and Systems

作者： P. Drews E. R. Nascimento M. F. M. Campos A. Elfes Department of Computer Science of the Universidade Federal de Minas Gerais - UFMG Belo Horizonte Brazil Centro de Ciências Computacionais - C3 Univ. Federal do Rio Grande - FURG Rio Grande Brazil Autonomous System Program - ASP CSIRO Pullenvale Australia

Underwater environments present a considerable challenge for computer vision, since water is a scattering medium with substantial light absorption characteristics which is made even more severe by turbidity. This poses significant problems for visual underwater navigation, object detection, tracking and recognition. Previous works tackle the problem by using unreliable priors or expensive and complex devices. This paper adopts a physical underwater light attenuation model which is used to enhance the quality of images and enable the applicability of traditional computer vision techniques images acquired from underwater scenes. The proposed method simultaneously estimates the attenuation parameter of the medium and the depth map of the scene to compute the image irradiance thus reducing the effect of the medium in the images. Our approach is based on a novel optical flow method, which is capable of dealing with scattering media, and a new technique that robustly estimates the medium parameters. Combined with structure-from-motion techniques, the depth map is estimated and a model-based restoration is performed. The method was tested both with simulated and real sequences of images. The experimental images were acquired with a camera mounted on a Remotely Operated Vehicle (ROV) navigating in a naturally lit, shallow seawater. The results show that the proposed technique allows for substantial restoration of the images, thereby improving the ability to identify and match features, which in turn is an essential step for other computer vision algorithms such as object detection and tracking, and autonomous navigation.

关键词： Image restoration Optical imaging Attenuation Cameras Lighting computer vision Estimation

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Financialized methods for market-based multi-sensor fusion

Financialized methods for market-based multi-sensor fusion

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IEEE/RSJ International conference on intelligent robots and Systems

作者： J. Abernethy M. Johnson-Roberson Department of Electrical Engineering & Computer Science University of Michigan Ann Arbor MI USA Department of Naval Architecture & Marine Engineering University of Michigan Ann Arbor MI USA

Autonomous systems rely on an increasing number of input sensors of various modalities, and the problem of sensor fusion has received attention for many years. Autonomous system architectures are becoming more complex with time, and the number and placement of sensors will be modified regularly, sensors will fail for many reasons, information will arrive asynchronously, and the system will need to adjust to rapidly changing environments. To address these issues we propose a new paradigm for fusing information from multiple sources that draws from the rich of field pertaining to financial markets, particularly recent research on prediction market design. Among the many benefits of this financialized approach is that, both in theory and in practice, markets are well-equipped to robustly synthesize information from diverse sources in a decentralized fashion. Our framework poses sensor processing algorithms as profit-seeking market participants, data is incorporated via financial transactions, and the joint estimation is represented as a price equilibrium. We use pedestrian detection as a motivating application. Pedestrian detection is a well studied field and essential to autonomous driving. Real world fusion results are presented on RGB and LIDAR data from the KITTI vision Benchmark Suite. We demonstrate we can achieve comparable performance to state-of-the-art hand designed fusion techniques using the proposed approach.

关键词： Sensor fusion Contracts Sensor systems Bayes methods Robot kinematics

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New vision System and Navigation Algorithm for an Autonomous Ground Vehicle

New Vision System and Navigation Algorithm for an Autonomous...

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

作者： Tann, Hokchhay Shakya, Bicky Merchen, Alex C. Williams, Benjamin C. Khanal, Abhishek Zhao, Jiajia Ahlgren, David J. Trinity Coll Hartford CT 06106 USA

ISBN: (纸本)9780819499424

Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

关键词： Image Processing Robotics National Instruments LabVIEW Compact RIO Distributed Systems

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Adaptation of human routines to support a robot's tasks planning and scheduling

Adaptation of human routines to support a robot's tasks plan...

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

作者： Tikanmaki, A. Feliu, Troyano S. Roning, J. Univ Oulu CSE Dept Oulu Finland

ISBN: (纸本)9780819499424

Service robots usually share their workspace with people. Typically, a robot's tasks require knowing when and where people are, to be able to schedule requested tasks. Therefore, there exists the need to take into account the presence of humans when planning their actions and it is indispensable to have knowledge of robots' environments. It means in practice knowing when (time and events duration) and where (in workspace) a robot's tasks can be performed. This research paper takes steps towards obtaining of the spatial information required to execute software to plan tasks to be performed by a robot. With this aim, a program capable to define meaningful areas or zones in the robot workspace by the use of a clustering is created tied with statistically reasoned time slots when to perform each task. The software is tested using real data obtained from different cameras located along the corridors of CSE Department of University of Oulu.

关键词： service robots learning clustering

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Research and Development of Ro-Boat - An Autonomous River Cleaning Robot

Research and Development of Ro-Boat - An Autonomous River Cl...

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

作者： Sinha, Aakash Bhardwaj, Prashant Vaibhav, Bipul Mohammad, Noor Omnipresent Robot Technologies Pvt. Ltd. (India) Manav Rachna College Of Engineering (India) Indian Institute Of Technology Guwahati (India) National Institute Of Technology Warangal (India)

ISBN: (纸本)9780819499424

Ro-Boat is an autonomous river cleaning intelligent robot incorporating mechanical design and computer vision algorithm to achieve autonomous river cleaning and provide a sustainable environment. Ro-boat is designed in a modular fashion with design details such as mechanical structural design, hydrodynamic design and vibrational analysis. It is incorporated with a stable mechanical system with air and water propulsion, robotic arms and solar energy source and it is proceed to become autonomous by using computer vision. Both "HSV Color Space" and "SURF" are proposed to use for measurements in Kalman Filter resulting in extremely robust pollutant tracking. The system has been tested with successful results in the Yamuna River in New Delhi. We foresee that a system of Ro-boats working autonomously 24x7 can clean a major river in a city on about six months time, which is unmatched by alternative methods of river cleaning.

关键词： Autonomous robot River cleaning computer vision Multiple object tracking HSV color space SURF Kalman filter

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The 21TH Annual intelligent Ground Vehicle Competition: Robotists for the Future

The 21TH Annual Intelligent Ground Vehicle Competition: Robo...

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

作者： Theisen, Bernard L. US Army TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819499424

The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). 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. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 21 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses 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 four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles vehicle control engineering education IGVC.

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3D vision system for intelligent milking robot automation

3D vision system for intelligent milking robot automation

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

作者： Akhloufi, M. A. Ctr Robot & Vis Ind Levis PQ G6V 6Z9 Canada

ISBN: (纸本)9780819499424

In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real- time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

关键词： 3D vision multimodal fusion intelligent systems RGBD TOF real-time robotics milking robot.

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Motion lecture annotation system to learn Naginata performances

Motion lecture annotation system to learn Naginata performan...

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

作者： Kobayashi, Daisuke Sakamoto, Ryota Nomura, Yoshihiko Mie Univ Grad Sch Engn 1577 Kurima Machiya Tsu Mie Japan Mie Univ Hosp Tsu Mie Japan

ISBN: (纸本)9780819499424

This paper describes a learning assistant system using motion capture data and annotation to teach "Naginata-jutsu" (a skill to practice Japanese halberd) performance. There are some video annotation tools such as YouTube. However these video based tools have only single angle of view. Our approach that uses motion-captured data allows us to view any angle. A lecturer can write annotations related to parts of body. We have made a comparison of effectiveness between the annotation tool of YouTube and the proposed system. The experimental result showed that our system triggered more annotations than the annotation tool of YouTube.

关键词： Sports Instruction Motion Capture Virtual Reality e-Learning Annotation Human computer Interaction

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Discrete and Continuous Curvature Computation for Real Data

Discrete and Continuous Curvature Computation for Real Data

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

作者： Colbry, Dirk Shrikhande, Neelima Michigan State Univ E Lansing MI 48824 USA Cent Michigan Univ Mt Pleasant MI 48858 USA

ISBN: (纸本)9780819499424

This paper describes two methods for estimating the minimum and maximum curvatures for a 3D surface and compares the computational efficiency of these approaches on 3D sensor data. The classical method of Least Square Fitting (LSF) finds an approximation of a cubic polynomial fit for the local surface around the point of interest P and uses the coefficients to compute curvatures. The Discrete Differential Geometry (DDG) algorithm approximates a triangulation of the surface around P and calculates the angle deficit at P as an estimate of the curvatures. The accuracy and speed of both algorithms are compared by applying them to synthetic and real data sets with sampling neighborhoods of varying sizes. Our results indicate that the LSF and DDG methods produce comparable results for curvature estimations but the DDG method performs two orders of magnitude faster, on average. However, the DDG algorithm is more susceptible to noise because it does not smooth the data as well as the LSF method. In applications where it is not necessary for the curvatures to be precise (such as estimating anchor point locations for face recognition) the DDG method yields similar results to the LSF method while performing much more efficiently.

关键词： 3D scanning Strontium Optical spheres Statistical analysis Facial recognition systems computer graphics Detection and tracking algorithms Evolutionary algorithms Image processing 3D modeling

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