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

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Image understanding systems based on the unifying representation of perceptual and conceptual information and the solution of mid-level and high-level vision problems

Image understanding systems based on the unifying representa...

引用

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

作者： Kuvychko, I

ISBN: (纸本)081944300X

vision is a part of a larger information system that converts visual information into knowledge structures. These structures drive vision process, resolving ambiguity and uncertainty via feedback, and provide image understanding, that is an interpretation of visual information in terms of such knowledge models. A computer vision system based on such principles requires unifying representation of perceptual and conceptual information. computer simulation models are built on the basis of graphs/networks. The ability of human brain to emulate similar graph/networks models is found. That means a very important shift of paradigm in our knowledge about brain from neural networks to the "cortical software". Starting from the primary visual areas, brain analyzes an image as a graph-type spatial structure. Primary areas provide active fusion of image features on a spatial grid-like structure, where nodes are cortical columns. The spatial combination of different neighbor features cannot be described as a statistical/integral characteristic of the analyzed region, but uniquely characterizes such region itself. Spatial logic and topology naturally present in such structures. Mid-level vision processes like clustering, perceptual grouping, multilevel hierarchical compression, separation of figure from ground, etc. are special kinds of graph/network transformations. They convert low-level image structure into the set of more abstract ones, which represent objects and visual scene, making them easy for analysis by higher-level knowledge structures. Higher-level vision phenomena like shape from shading, occlusion, etc. are results of such analysis. Such approach gives opportunity not only to explain frequently "unexplainable" results of the cognitive science, but also to create intelligent computer vision systems that simulate perceptional processes in both "what" and "where" visual pathways. Such systems can open new horizons for robotic and computer vision industries.

关键词： image understanding mid-level and high-level vision computational intelligence knowledge & vision engines

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Real-time computer vision system for mobile robot

Real-time computer vision system for mobile robot

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

作者： Persa, S Jonker, P Delft Univ Technol Pattern Recognit Grp NL-2628 CJ Delft Netherlands

ISBN: (纸本)081944300X

The purpose of this paper is to present a real-time vision system for position determination and vision guidance to navigate an autonomous mobile robot in a known environment. We use a digital camera, which provide ten times the video capture bandwidth then a USB, using FireWire interface. In order to achieve real-time image processing we use MMX technology to accelerate vision tasks. Camera calibration is a necessary step in 3D computer vision in order to extract metric information from 2D images. Calibration is used to determine the camera parameters by minimizing the mean square error between model and calibration points. The camera calibration we use here is based on several views of a planar calibration pattern, which is an easy to use and accurate algorithm. For position pose of the robot we use the corner points and lines, features extracted from the image, and matched with the model of the environment. The algorithm is as follows: first we compute an initial pose using the Ganatipathy's four point algorithm and we use this initial estimation as the starting point for the iterative algorithm proposed by Araujo in order to refine our pose.

关键词： real-time vision calibration position estimation navigation mobile robots

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An application of GPS systems on a mobile robot

An application of GPS systems on a mobile robot

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

作者： Cao, P Saxena, M Tedder, M Michalske, S Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081944300X

The purpose of this paper is to describe the use of Global Positioning Systems (GPS) as geographic information and navigational system for a ground based mobile robot. Several low cost wireless systems are now available for a variety of innovative automobile applications including location, messaging and tracking and security. Experiments were conducted with a test bed mobile robot, Bearcat II, for point-to-point motion using a Motorola GPS in June 2001. The Motorola M12 Oncore GPS system is connected to the Bearcat U main control computer through a RS232 interface. A mapping program is used to define a desired route. Then GPS information may be displayed for verification. However, the GPS information is also used to update the control points of the mobile robot using a reinforcement learning method. Local position updates are also used when found in the environment. The significance of the method is in extending the use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method.

关键词： global positioning systems intelligent robots mobile robots

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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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Symbolic processing methods for 3D visual processing

Symbolic processing methods for 3D visual processing

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

作者： Tedder, M Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081944300X

The purpose of this paper is to describe a theory that defines an open method for solving 3D visual data processing and artificial intelligence problems that is independent of hardware or software implementation. The goal of the theory is to generalize and abstract the process of 3D visual processing so that the method can be applied to a wide variety of 3D visual processing problems. Once the theory is described a heuristic derivation is given. Symbolic processing methods can be generalized into an abstract model composed of eight basic components. The symbolic processing model components are: input data;input data interface;symbolic data library;symbolic data environment space;relationship matrix;symbolic logic driver;output data interface and output data. An obstacle detection and avoidance experiment was constructed to demonstrate the symbolic processing method. The results of the robot obstacle avoidance experiment demonstrated that the mobile robot could successfully navigate the obstacle course using symbolic processing methods for the control software. The significance of the symbolic processing approach is that the method arrived at a solution by using a more formal quantifiable process. Some of the practical applications for this theory are: 3D object recognition, obstacle avoidance, and intelligent robot control.

关键词： symbolic processing computer vision laser scanning mobile robots artificial intelligence

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Active objects programming for military autonomous mobile robots software prototyping

Active objects programming for military autonomous mobile ro...

引用

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

作者： Cozien, RF French Department of Defense ENSTB Image and Info. Processing Dept. Brest France

ISBN: (纸本)081944300X

While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical "body" is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a "reactive" robot brings other difficulties. A "reactive" robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge pannel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily sol

关键词： object oriented programming active object autonomous robots software prototyping military purpose

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Fuzzy-based human vision properties in stereo sonification system for the visually impaired

Fuzzy-based human vision properties in stereo sonification s...

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

作者： Nagarajan, R Yaacob, S Sainarayanan, G Univ. Malaysia Sabah (Malaysia)

ISBN: (纸本)081944300X

This paper presents incorporation of certain human vision properties in the image processing methodologies, applied in the vision substitutive system for human blind. The prototype of the system has digital video camera fixed in a headgear, stereo earphone and a laptop computer, interconnected. The processing of the captured image is designed as human vision. It involves lateral inhibition, which is developed using Feed Forward Neural Network (FFNN) and domination of the object properties with suppression of background by means of Fuzzy based Image Processing System (FLIPS). The processed image is mapped to stereo acoustic signals to the earphone. The sound is generated using non-linear frequency incremental sine wave. The sequence of the scanning to construct the acoustic signal is designed to produce stereo signals, which aids to locate the object in horizontal axis. Frequency variation implies the location of object in the vertical axis. The system is tested with blind volunteer and his suggestion in formatting, pleasantness and discrimination of sound pattern were also considered.

关键词： electronic travel aid sonification vision aid edge detection background suppression iris

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Study of cooperative algorithm and group behavior in multi-robot

Study of cooperative algorithm and group behavior in multi-r...

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

作者： Hong, SW Park, KS Shin, SW Ahn, DS Pukyong Natl Univ Sch Mech Engn Intelligent Control Lab Nam Gu Pusan 608739 South Korea

ISBN: (纸本)081944300X

In a multi-agent system, the action selection strategy is important for the cooperation and coordination of multi agents. However the overlap of actions selected individually by each robot makes the acquisition of cooperation behaviors less efficient. In addition to that, a complex and dynamic environment makes cooperation even more difficult. So in this paper, we propose a control algorithm which enables each robot to determine the action for the effective cooperation in multi-robot system. We employ a reinforcement learning in order to choose a proper action for each robot in its action subspace. In this paper, robot soccer system is adopted for the multi-robot environment. To play a soccer game, elementary actions such as shooting and passing must be provided. Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulations, the efficiency of own proposed algorithm is verified for the cooperation in multi robot system.

关键词： robot soccer Q-learning cooperation reinforcement learning fuzzy

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vision system for fast 3D obstacle detection via stereovision matching.

Vision system for fast 3D obstacle detection via stereovisio...

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

作者： Bouayed, HA Pissaloux, EE Abdallah, SM CNRS Lab Robot Paris F-78140 Velizy Villacoublay France

ISBN: (纸本)081944300X

Image matching is one of the fundamental problems of computer vision. Various approaches exist. They differ essentially by extracted primitives, by the best match search strategy, and by final applications. Feature based dense matching methods use such geometric primitives as raw pixels, edges, interest points, etc. Some of the correlation based matching methods involve a distance calculation, a time consuming operations. Its enhancement adds pixel complex photometric characteristics such as gradient direction, local curvature and luminosity local disparity, what increases the matching time, but they are usually very noisy. The matching method noise dependency and data volume can be reduced when improving the 'interest point' robustness. This paper proposes to add to 'interest point primitive' a set (vector) of simple characteristics (geometric and photometric), which are invariant to geometric plan transforms. A matching method based upon these enriched pixels and accumulation array concept is presented as well. These elements are useful for 3D obstacle detection in the on-going project "intelligent glasses", our final application. The intelligent glasses is a vision system for humanoid robot and for blinds/visually impaired persons under joint development by Rouen University and Robotics Laboratory in Paris.

关键词： Stereo vision

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vision based overlay of a virtual object into real scene for designing room interior

Vision based overlay of a virtual object into real scene for...

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

作者： Harasaki, S Saito, H Keio Univ Dept Informat & Comp Sci Kohoku Ku Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)081944300X

In this paper, we introduce a geometric registration method for augmented reality (AR) and an application system, interior simulator, in which a virtual (CG) object can be overlaid into a real world space. Interior simulator is developed as an example of an AR application of the proposed method. Using interior simulator, users can visually simulate the location of virtual furniture and articles in the living room so that they can easily design the living room interior without placing real furniture and articles, by viewing from many different locations and orientations in real-time. In our system, two base images of a real world space are captured from two different views for defining a projective coordinate of object 3D space. Then each projective view of a virtual object in the base images are registered interactively. After such coordinate determination, an image sequence of a real world space is captured by hand-held camera with tracking non-metric measured feature points for overlaying a virtual object. Virtual objects can be overlaid onto the image sequence by taking each relationship between the images. With the proposed system, 3D position tracking device, such as magnetic trackers, axe not required for the overlay of virtual objects. Experimental results demonstrate that 3D virtual furniture can be overlaid into an image sequence of the scene of a living room nearly at video rate (20 frames per second).

关键词： vision based system registration 3D interaction techniques augmented reality

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