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

作者： Fujimoto, K. Kimura, N. Moriya, T. Hitachi Ltd Cent Res Lab Tokyo 1828601 Japan

ISBN: (纸本)9780819489487

Performing efficient view frustum culling is a fundamental problem in computer graphics. In general, an octree is used for view frustum culling. The culling checks the intersection of each octree node (cube) against the planes of the view frustum. However, this involves many calculations. We propose a method for fast detecting the intersection of a plane and a cube in an octree structure. When we check which child of the octree node intersects a plane, we compare the coordinates of the corner of the node and the plane. Using an octree, we calculate the vertices of the child node by using the vertices of the parent node. To find points within a convex region, a visibility test is performed by AND operation with the result of three or more planes. In experiments, we tested the problem of searching for the visible point with a camera. The method was two times faster than the conventional method, which detects a visible octree node by using the inner product of the plane and each corner of the node.

关键词： Octree View frustum culling computer graphics Point rendering

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A modular real-time vision module for humanoid robots

A modular real-time vision module for humanoid robots

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

作者： Trifan, Alina Neves, Antonio J. R. Lau, Nuno Cunha, Bernardo Univ Aveiro IEETA DETI P-3810193 Aveiro Portugal

ISBN: (纸本)9780819489487

Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

关键词： Robotics robotic soccer computer vision object recognition humanoid robots color classification

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Navigating with VFH: A Strategy to Avoid Traps

Navigating with VFH: A Strategy to Avoid Traps

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

作者： Luo, Chaomin Krishnan, Mohan Paulik, Mark Mohammad, Utayba Wang, Qing Univ Detroit Mercy Dept Elect & Comp Engn Detroit MI 48221 USA

ISBN: (纸本)9780819489487

The IGVC Navigation Challenge course configuration has evolved in complexity to a point where use of a simple reactive local navigation algorithm presents problems in course completion. A commonly used local navigation algorithm, the Vector Field Histogram (VFH), is relatively fast and thus suitable when computational capabilities on a robot are limited. One of the attendant disadvantages of this algorithm is that a robot can get trapped when attempting to get past a concave obstacle structure. The Navigation Challenge course now has several such structures, including some that partially surround waypoints. Elaborate heuristics are needed to make VFH viable in such a situation and their tuning is arduous. An alternate approach that avoids the use of heuristics is to combine a dynamic path planning algorithm with VFH. In this work, the D*Lite path planning algorithm is used to provide VFH with intermediate goals, which the latter then uses as stepping stones to its final destination. Results from simulation studies as well as field deployment are used to illustrate the benefits of using the local navigator in conjunction with a path planner.

关键词： D*Lite Vector Field Histogram (VFH) path planning Navigation Challenge breadcrumbs intelligent mobile robots

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Decentralized tracking of humans using a camera network

Decentralized tracking of humans using a camera network

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

作者： Gruenwedel, Sebastian Jelaca, Vedran Nino-Castaneda, Jorge Oswaldo Van Hese, Peter Van Cauwelaert, Dimitri Veelaert, Peter Philips, Wilfried Ghent Univ TELIN IPI IBBT B-9000 Ghent Belgium

ISBN: (纸本)9780819489487

Real-time tracking of people has many applications in computer vision and typically requires multiple cameras;for instance for surveillance, domotics, elderly-care and video conferencing. However, this problem is very challenging because of the need to deal with frequent occlusions and environmental changes. Another challenge is to develop solutions which scale well with the size of the camera network. Such solutions need to carefully restrict overall communication in the network and often involve distributed processing. In this paper we present a distributed person tracker, addressing the aforementioned issues. Real-time processing is achieved by distributing tasks between the cameras and a fusion node. The latter fuses only high level data based on low-bandwidth input streams from the cameras. This is achieved by performing tracking first on the image plane of each camera followed by sending only metadata to a local fusion node. We designed the proposed system with respect to a low communication load and towards robustness of the system. We evaluate the performance of the tracker in meeting scenarios where persons are often occluded by other persons and/or furniture. We present experimental results which show that our tracking approach is accurate even in cases of severe occlusions in some of the views.

关键词： computer vision decentralized architecture sensor fusion target tracking multi-camera tracking occupancy mapping

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Radial Polar Histogram: obstacle avoidance and path planning for robotic cognition and motion control

Radial Polar Histogram: obstacle avoidance and path planning...

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

作者： Wang, Po-Jen Keyawa, Nicholas R. Euler, Craig Calif State Univ Northridge Northridge CA 91330 USA

ISBN: (纸本)9780819489487

In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

关键词： Robotics intelligent ground vehicle cognition motion control path planning obstacle avoidance

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An approach to stereo-point cloud registration using image homographies

An approach to stereo-point cloud registration using image h...

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

作者： Fox, Stephen D. Lyons, Damian M. Fordham Univ Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9780819489487

A mobile robot equipped with a stereo camera can measure both the video image of a scene and the visual disparity in the scene. The disparity image can be used to generate a collection of points, each representing the location of a surface in the visual scene as a 3D point with respect to the location of the stereo camera: a point cloud. If the stereo camera is moving, e. g., mounted on a moving robot, aligning these scans becomes a difficult, and computationally expensive problem. Many finely tuned versions of the iterative closest point algorithm (ICP) have been used throughout robotics for registration of these sets of scans. However, ICP relies on theoretical convergence to the nearest local minimum of the dynamical system: there is no guarantee that ICP will accurately align the scans. In order to address two problems with ICP, convergence time and accuracy of convergence, we have developed an improvement by using salient keypoints from successive video images to calculate an affine transformation estimate of the camera location. This transformation, when applied to the target point cloud, provides ICP an initial guess to reduce the computational time required for point cloud registration and improve the quality of registration. We report ICP convergence times with and without image information for a set of stereo data point clouds to demonstrate the effectiveness of the approach.

关键词： registration point cloud alignment scan-matching iterative closest point mobile robot stereo vision computer vision homography egomotion

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Integrated Field Testing of Planetary Robotics vision processing - the PRoVisG Campaign in Tenerife 2011

Integrated Field Testing of Planetary Robotics vision proces...

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

作者： Paar, G. Waugh, L. Barnes, D. P. Pajdla, T. Woods, M. Graf, H. -R. Gao, Y. Willner, K. Muller, J. -P. Li, R. JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria EADS Astrium Stevenage Herts England Aberystwyth Univ Aberystwyth SY23 3DB Dyfed Wales Czech Tech Univ Ctr Machine Percept Prague Czech Republic SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Surrey Space Ctr Guildford Surrey England Technical Unive Berlin Berlin Germany Univ Coll London MSSL London RH5 6NT ON Canada Ohio State Univ Columbus MS USA

ISBN: (纸本)9780819489487

In order to maximize the use of a robotic probe during its limited lifetime, scientists immediately have to be provided the best achievable visual quality of 3D data products. The EU FP7-SPACE Project PRoVisG (2008-2012) develops technology for the rapid processing and effective representation of visual data by improving ground processing facilities. In September 2011 PRoVisG held a Field Trials campaign in the Caldera of Tenerife to verify the implemented 3D vision processing mechanisms and to collect various sets of reference data in representative environment. The campaign was strongly supported by the Astrium UK Rover Bridget as a representative platform which allows simultaneous on-board mounting and powering of various vision sensors such as the Aberystwyth ExoMars PanCam Emulator (AUPE). The paper covers the preparation work for such a campaign and highlights the experiments that include standard operations-and science-related components but also data capture to verify specific processing functions. We give an overview of the captured data and the compiled and envisaged processing results, as well as a summary of the test sites, logistics and test assets utilized during the campaign.

关键词： Planetary rover planetary mapping robotic vision surface operations Mars exploration field-analogue testing planetary science

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Indoor Mobile Robotics at Grima, PUC

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JOURNAL OF intelligent & ROBOTIC SYSTEMS 2012年第1-2期66卷 151-165页

作者： Caro, Luis Correa, Javier Espinace, Pablo Langdon, Daniel Maturana, Daniel Mitnik, Ruben Montabone, Sebastian Pszczolkowski, Stefan Araneda, Anita Mery, Domingo Torres, Miguel Soto, Alvaro Pontificia Univ Catolica Chile PUC Dept Comp Sci Sch Engn Santiago Chile Univ Catolica Temuco Sch Informat Temuco Chile Pontificia Univ Catolica Chile PUC Dept Stat Fac Math Santiago Chile

This paper describes the main activities and achievements of our research group on Machine Intelligence and Robotics (Grima) at the computer Science Department, Pontificia Universidad Catolica de Chile (PUC). Since 2002, we have been developing an active research in the area of indoor autonomous social robots. Our main focus has been the cognitive side of Robotics, where we have developed algorithms for autonomous navigation using wheeled robots, scene recognition using vision and 3D range sensors, and social behaviors using Markov Decision Processes, among others. As a distinguishing feature, in our research we have followed a probabilistic approach, deeply rooted in machine learning and Bayesian statistical techniques. Among our main achievements are an increasing list of publications in main Robotics conference and journals, and the consolidation of a research group with more than 25 people among full-time professors, visiting researchers, and graduate students.

关键词： Mobile robots Autonomous navigation Social robots Scene understanding

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Navigating a Path Delineated by Colored Flags: An Approach for a 2011 IGVC Requirement

Navigating a Path Delineated by Colored Flags: An Approach f...

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

作者： Szmatula, Alex Parrish, Matt Krishnan, Mohan Paulik, Mark Mohammad, Utayba Luo, Chaomin Univ Detroit Mercy ECE Dept Detroit MI 48221 USA

ISBN: (纸本)9780819489487

In this work, we address a situation presented as a new requirement for the Autonomous Challenge portion of the 2011 intelligent Ground Vehicle Competition (IGVC). This new requirement is to navigate between red and green colored flags placed within the normal white painted lane lines. The regular vision algorithms had to be enhanced to reliably identify and localize the colored flags, while the Navigation algorithms had to be modified to satisfy the constraints placed on the robot while transiting through the flag region. The challenge in finding a solution was the size of the flags, the possibility of loosing them against the background, as well as their movement in the wind. The attendant possibility of false positives and negatives also needed to be addressed to increase reliability of detection. Preliminary tests on the robot have produced positive results.

关键词： Autonomous robots Color Image Processing VFH Navigation Lane Following IGVC

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PRoViScout - a Planetary Scouting Rover Demonstrator

PRoViScout - a Planetary Scouting Rover Demonstrator

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

作者： Paar, Gerhard Woods, Mark Gimkiewicz, Christiane Labrosse, Frederic Medina, Alberto Tyler, Laurence Barnes, David P. Fritz, Gerald Kapellos, Konstantinos JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Aberystwyth Univ Aberystwyth Dyfed Wales GMVc Isaac Newton Tres Cantos 28760 Spain TRASYS Space B-1560 Hoeilaart Belgium

ISBN: (纸本)9780819489487

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

关键词： Planetary rover autonomous navigation robotic vision planning 3D-TOF Mars exploration decision making planetary science science interest

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