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检索条件"任意字段=Conference on Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques"

共 375 条记录，以下是161-170 订阅

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Self-learning, self-broadening knowledge base for calibration-free robot vision

Self-learning, self-broadening knowledge base for calibratio...

引用

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

作者： Nguyen, MC Graefe, V Univ Bundeswehr Munchen Inst Messtech D-85577 Neubiberg Germany

ISBN: (纸本)081942983X

A new concept of a self-learning, self-broadening knowledge base that may be used as the long-term memory for a completely calibration-free robot vision to manipulate objects is presented. With this concept the robot automatically acquires during its normal operation the necessary knowledge which can be saved afterwards in the knowledge base and allowing the robot to adapt itself to changing conditions. Thus, the robot presents self-learning characteristics. The robot control using the knowledge base is then based on the human way of solving problems, i.e. new, additional facts (in our case control words) are developed from available facts. Such a control enables improving skills of the robot. The concept has been successfully realized and tested in real-word experiments with an uncalibrated vision-guided manipulator involving the grasping of various objects with nearly any shape and in an arbitrary orientation in horizontal plane.

关键词： self-learning robot calibration-free robot control robot vision machine learning object grasping knowledge based systems

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Improved single-camera stereo system for mobile robotics

Improved single-camera stereo system for mobile robotics

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Lovegrove, William P. McGary, Patrick D. Austin, Kelly Bob Jones Univ Greenville SC 29614 USA

ISBN: (纸本)9780819479327

A single-camera stereo vision system offers a greatly simplified approach to image capture and analysis. In the original study by Lovegrove and Brame, they proposed a novel optical system that uses a single camera to capture two short, wide stereo images that can then be analyzed for real-time obstacle detection. In this paper, further analysis and refinement of the optical design results in two virtual cameras with perfectly parallel central axes. A new prototype camera design provides experimental verification of the analysis and also provides insight into practical construction. The experimental device showed that the virtual cameras' axes possessed a deviation from parallel of less than 12 minutes (or 0.2 degrees). The calculation of distances to objects from the two overlapping images all showed errors smaller than the pixel resolution limitation. In addition, a barrel lens correction was used in processing the image to allow parallax distance determination in the whole horizontal view of the images.

关键词： stereo vision single camera stereo pair mobile robot obstacle detection computer vision

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Extraction of shape based properties

Extraction of shape based properties

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

作者： Shirkhande, N Cent Michigan Univ Ctr Comp Vis Dept Comp Sci Mt Pleasant MI 48859 USA

ISBN: (纸本)081942983X

A model of an object is an image consisting of features of an object. The input is a gray scale image from which features are computed. In his doctoral thesis, J. L. Chen [6] used a model based approach to object recognition. His method is based on Rosin's work [15] for extraction of parts. Both model and scene features are contour based properties. The scene features are matched to the model features by indexing. The following features are computed: convexity, compactness, roundedness, skewness, and the first moment invariant tall using Rosin's algorithm). In this paper, we extend the feature description to include internal and external parts of an object. We use the interpretation tree approach for matching the scene to model, where constraints such as distances and angles between parts are used to prune the interpretation tree. We compare the efficiency of the interpretation tree approach with the indexing method on the data that was used in previous experiments by J. L. Chen.

关键词： computer vision image processing object recognition

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2D vision in a 3D System

2D vision in a 3D System

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

作者： Flinders, M Intelligent Automat Syst Cambridge MA USA

ISBN: (纸本)081944300X

2D vision in a 3D System will be an overview of important software and mechanical issues related to designing and implementing a system with 3-dimensional characteristics constrained by a 2-dimensional vision system. A general methodology for choosing the right components, including cameras, optics, and lighting will be discussed. Some choices for image processing techniques, related in particular to calibration and pattern-matching approaches, will be overviewed. The discussion will involve approaches to auto-focusing and additional mathematical algorithms that may likely be required. These issues will include world-to-camera transformations and considerations to take when dealing with rotational attributes. The presentation is intended primarily for software engineers and/or other engineers that would be involved in the prototyping, design, and implementation phases of such a project. Typical examples of such systems will be cited and a more in-depth overview of a particular example will be made. Some typical pitfalls, both mechanical and software-related, will also be broached.

关键词： machine vision camera calibration image processing robot image distortion geometric pattern match shadow diffuse light

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EXPERT-SYSTEMS AS DESIGN AIDS FOR ARTIFICIAL vision SYSTEMS - A SURVEY 12

EXPERT-SYSTEMS AS DESIGN AIDS FOR ARTIFICIAL VISION SYSTEMS ...

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

作者： CREVIER, D UNIV QUEBEC ECOLE TECHNOL SUPERDEPT ELECT ENGNMONTREAL H2T 2C8PQCANADA

ISBN: (纸本)0819413208

The development of software that would be to computer vision what expert system shells are to expert systems has been the subject of considerable inquiry over the last ten years; this paper reviews the pertinent publications and tries to present a coherent view of the field. We start by outlining two major differences between would be `vision shells' and conventional expert system shells. The first is the need for an intermediate level of symbolic representation between image pixels and the knowledge base. The second is that the mental operations that people perform to interpret images lie almost totally below the threshold of consciousness. vision system designers therefore cannot, as domain experts normally do, examine their own mental processes and cast them into rules to extract information from images. The vision shell should thus contain, in addition to the usual knowledge engineering toolbox, knowledge on the pertinence of specific imaging operations towards various goals. After a review of the role of explicit knowledge in artificial vision, we examine the architecture a vision shell should have, and look at ways of facilitating the entry of domain-pertinent knowledge into it. Final remarks are made on knowledge representation and acquisition aspects particular to industrial applications.

关键词： Image segmentation Image processing Machine vision computer vision technology Imaging systems Image analysis Visualization Software development Robot vision robots

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Interacting with personal robots and smart environments

Interacting with personal robots and smart environments

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

作者： Röning, J Kangas, K Univ Oulu Dept EE Comp Engn Lab FIN-90401 Oulu Finland

ISBN: (纸本)0819434302

In the future, interaction between humans and personal robots will become increasingly important as robots will, more and more, operate as assistants in our everyday life. Because of this, there is a need for a convenient, flexible, and general-purpose technique that we can use to interact with robots. Moreover, the same technique should also be usable when we interact with embedded systems in smart environments. In this paper, we will describe a technique that allows us to use a single simple handheld control device to interact not only with personal robots, but also with ubiquitous embedded systems. When a new system, whether a mobile robot or a VCR, is encountered, the control device downloads a mobile code from the system and executes it. The mobile code then uses the services provided by the control device to create a virtual user interface that we can use to interact with the particular system. Our technique is flexible, simple, adaptive, and open. The technique draws much of its flexibility and simplicity from the mobile code. Adaptivity comes from the fact that the control device only needs minimal knowledge about each particular system. In addition, the technique does not place any restrictions on the type of mobile code that can be used. We will describe the architecture of the CUES system that utilizes our technique. We will also describe the architecture of the SMAF system, our test bed mobile code execution environment used in CUES. In addition, we will present a virtual user interface for a mobile robot that we can use to control the robot and to monitor its status information. The interface also operates as a terminal that we can use to access remote information in the Internet.

关键词： mobile code ubiquitous computing human-computer interaction embedded systems smart environments mobile robots

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Stereo Matching by optimization using weak environmental constraints

Stereo Matching by optimization using weak environmental con...

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conference on intelligent robots and computer vision XV: algorithms, techniques, Active vision, and Materials Handling

作者： Branca, A Stella, E Attolico, G Distante, A Istituto Elaborazione Segnali ed Immagini/CNR (Italy)

ISBN: (纸本)0819423068

Oue goal is to mar ch primitives of a pair of images, thereby solving the correspondence problem, in order to estimate depths of 3D scene points from the relative distance (disparity) between matched features. We propose a feature-based approach to solve the correspondence problem by minimizing an appropriate energy function where constraints on radiometric similarity and projective geometric invariance of coplanar points are defined. The method can be seen as a correlation based approach which take into account the projective invariance of coplanar points in computing the optimal matches.

关键词： Detection and tracking algorithms Feature extraction 3D image processing Error analysis Direct methods Image segmentation Object recognition Optimization (mathematics) 3D vision Machine vision

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Obstacle recognition using region-based color segmentation techniques for mobile robot navigation

Obstacle recognition using region-based color segmentation t...

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

作者： McKeon, Robert T. Krishnan, Mohan Paulik, Mark Univ Detroit Mercy Dept Elect & Comp Engn Detroit MI 48221 USA

ISBN: (纸本)0819464821

This work has been performed in conjunction with the ECE Department's autonomous vehicle entry in the 2006 intelligent Ground Vehicle Competition (***). The course to be traversed in the competition consists of a lane demarcated by paint lines on grass along with other challenging artifacts such as a sandpit, a ramp, potholes, colored tarps, and obstacles set up using orange and white construction barrels. In this paper an enhanced obstacle detection and mapping algorithm based on region-based color segmentation techniques is described. The main purpose of this algorithm is to detect obstacles which are not properly identified by the LADAR (Laser Detection and Ranging) system optimally mounted close to the ground, due to "shadowing" occasionally resulting in bad navigation decisions. On the other hand, the camera that is primarily used to detect the lane lines is mounted at 6 feet. In this work we concentrate on the identification of orange/red construction barrels. This paper proposes a generalized color segmentation technique which is potentially more versatile and faster than traditional full or partial color segmentation approaches. The developed algorithm identifies the shadowed items within the camera's field of vision and uses this to complement the LADAR information, thus facilitating an enhanced navigation strategy. The identification of barrels also aids in deleting bright objects from images which contain lane lines, which improves lane line identification.

关键词： image color analysis image processing image segmentation object recognition

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Examples of design and achievement of vision Systems for mobile robotics applications

Examples of design and achievement of Vision Systems for mob...

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

作者： Bonnin, PJ Cabaret, L Raulet, L Hugel, V Blazevic, P M'Sirdi, NK Coiffet, P Lab Robot Paris F-78140 Velizy France

ISBN: (纸本)0819438626

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications :wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions: indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory, We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9 CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a single FPGA.

关键词： vision systems robots controlled by vision hardware implementation of vision algorithms

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A method for sensor processing, sensor integration, and navigation in mobile autonomous ground vehicles

A method for sensor processing, sensor integration, and navi...

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

作者： Riggins, Robert N. Mutter, Bruce V. Baker, Scott Farmer, Jesse Huntley, Joy Kessler, Joe Lewis, Lenny Bleufield State Coll CART Inc Ctr Appl Res & Technol POB 2182 Bluefield WV 24701 USA

ISBN: (纸本)0819464821

This paper presents an algorithm for solving three challenges of autonomous navigation: sensor signal processing, sensor integration, and path-finding. The algorithm organizes these challenges into three steps. The first step involves converting the raw data from each sensor to a form suitable for real-time processing. Emphasis in the first step is on image processing. In the second step, the processed data from all sensors is integrated into a single map. Using this map as input, during the third step the algorithm calculates a goal and finds a suitable path from robot to the goal. The method presented in this paper completes these steps in this order and the steps repeat indefinitely. The robotic platform designed for testing the algorithm is a six-wheel mid-wheel drive system using differential steering. The robot, called Anassa II, has an electric wheelchair base and a custom-built top and it is designed to participate in the intelligent Ground Vehicle Competition (IGVC). The sensors consist of a laser scanner, a video camera, a Differential Global Positioning System (DGPS) receiver, a digital compass, and two wheel encoders. Since many intelligent vehicles have similar sensors, the approach presented here is general enough for many types of autonomous mobile robots.

关键词： sensor integration autonomous ground robotic vehicles vision path-planning

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