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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231-240 订阅

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Diffractive 3D grating-optical sensor with trichromatic color constancy at adaptation to variable illuminants

Diffractive 3D grating-optical sensor with trichromatic colo...

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

作者： Lauinger, N Badenhop, B CORRSYS DATRON Sensorsyst GmbH D-35578 Wetzlar Germany

ISBN: (纸本)0819438626

Since 0. Lummer [6] and the industrial development and production of artificial illuminants it became more and more evident that between sunlight and human vision a specific — until today unexplained — "resonance" condition apparently exists. Therefore the recommendation holds to approximate as much as possible the spectral energy distribution of artificial illuminants to the one of sunlight. Especially in human color vision spectral shifts of illuminants always lead to hue shifts (cornbined Brightness-, Hue-, Saturation-Shifts) in the perception of colors. These hue shifts in human vision adaptively become compensated with more or less time delay, leading to a relatively good "color constancy" under variable illurninants. An — always far from perfect — explanation model, the von Kries-model, attributes this adaptive compensation of hue shifts to the photopigments in the cones of the human retina. Other — less perfect — models attributing this adaptation to cortical functions also exist [1, 2]. In parallel the need becomes evident to realize future color sensors "capable to measure colors normalized to the spectral sensitivity curves of human vision" [7]. It might be registered with satisfaction that a growing objectivity comes into this psychophysical field of color constancy in human vision by the publication of more and more precise data on relevant parameters in the physical conditions of the experiments.

关键词： Diffraction gratings Colorimetry Diffraction Retina Human vision and color perception Visible radiation 3D image processing 3D imaging standards Sensors Cones

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Optimizing feature selection strategy for adaptive object identification in a noisy environment

Optimizing feature selection strategy for adaptive object id...

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

作者： Pandya, Sagar Lu, Thomas Chao, Tien-Hsin Univ Southern Calif Los Angeles CA 90089 USA CALTECH Jet Prop Lab Pasadena CA 91125 USA

ISBN: (纸本)9780819494351

We present the development of a multi-stage automatic target recognition (MS-ATR) system for computer vision in robotics. This paper discusses our work in optimizing the feature selection strategies of the MS-ATR system. Past implementations have utilized Optimum Trade-off Maximum Average Correlation Height (OT-MACH) filtering as an initial feature selection method, and principal component analysis (PCA) as a feature extraction strategy before the classification stage. Recent work has been done in the implementation of a modified saliency algorithm as a feature selection method. Saliency is typically implemented as a "bottom-up" search process using visual sensory information such as color, intensity, and orientation to detect salient points in the imagery. It is a general saliency mapping algorithm that receives no input from the user on what is considered salient. We discuss here a modified saliency algorithm that accepts the guidance of target features in locating regions of interest (ROI). By introducing target related input parameters, saliency becomes more focused and task oriented. It is used as an initial stage for the fast ROI detection method. The ROIs are passed to the later stages for feature extraction and target identification process.

关键词： optimization target detection saliency vision

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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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techniques for evaluating optical flow for visual odometry in extreme terrain

Techniques for evaluating optical flow for visual odometry i...

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2004 IEEE/RSJ International conference on intelligent robots and Systems (IROS)

作者： Campbell, Jason Sukthankar, Rahul Nourbakhsh, Illah Intel Research Pittsburgh Pittsburgh PA United States Robotics Institute Pittsburgh PA United States NASA Ames Research Center Moffett Field CA United States

ISBN: (纸本)0780384636

Motion vision (visual odometry, the estimation of camera egomotion) is a well researched field, yet has seen relatively limited use despite strong evidence from biological systems that vision can be extremely valuable for navigation. The limited use of such vision techniques has been attributed to a lack of good algorithms and insufficient computer power, but both of those problems were resolved as long as a decade ago. A gap presently yawns between theory and practice, perhaps due to perceptions of robot vision as less reliable and more complex than other types of sensing. We present an experimental methodology for assessing the real-world precision and reliability of visual odometry techniques in both normal and extreme terrain. This paper evaluates the performance of a mobile robot equipped with a simple vision system in common outdoor and indoor environments, including grass, pavement, ice, and carpet. Our results show that motion vision algorithms can be robust and effective, and suggest a number of directions for further development.

关键词： Robotics

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New experimental diffractive-optical data on E. Land's Retinex mechanism in human color vision: Part II - art. no. 67640H

New experimental diffractive-optical data on E. Land's Retin...

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

作者： Lauinger, N. Corrsys 3D Sensors AG Wetzlar Germany

ISBN: (纸本)9780819469243

A better understanding of the color constancy mechanism in human color vision [7] can be reached through analyses of photometric data of all illuminants and patches (Mondrians or other visible objects) involved in visual experiments. In Part I [3] and in [4, 5 and 6] the integration in the human eye of the geometrical-optical imaging hardware and the diffractive-optical hardware has been described and illustrated (Fig.1). This combined hardware represents the main topic of the NAMIROS research project (nano- and micro- 3D gratings for optical sensors) [8] promoted and coordinated by Corrsys 3D Sensors AG. The hardware relevant to (photopic) human color vision can be described as a diffractive or interference-optical correlator transforming incident light into diffractive-optical RGB data and relating local RGB onto global RGB data in the near-field behind the 'inverted' human retina. The relative differences at local/global RGB interference-optical contrasts are available to photoreceptors (cones and rods) only after this optical pre-processing.

关键词： RGB color model Color vision Colorimetry Eye Halogens Retina Xenon Visualization Optical correlators Sensors

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A method for integrating vision and laser range measurements in autonomous ground robotic vehicles

A method for integrating vision and laser range measurements...

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

作者： Riggins, RN Mutter, BV Bluefield State Coll Bluefield WV USA

ISBN: (纸本)081945561X

This paper presents a method to integrate non-stereoscopic vision information with laser distance measurements for Autonomous Ground Robotic Vehicles (AGRV). The method assumes a horizontally-mounted Laser Measurement System (LMS) sweeping 180 degrees in front from right to left every one second, and a video camera mounted five feet high pointing to the front and down at 45 degrees to the horizontal. The LMS gives highly accurate obstacle position measurements in a two-dimensional plane whereas the vision system gives limited and not-so-accurate information on obstacle positions in three dimensions. The vision system can also see contrasts between ground markings. Many AGRVs have similar sensors in similar arrangements. The method presented here is general enough for many types of distance measurements and cameras and lenses. Since the data from these two sensors are in radically different formats, AGRVs need a scheme to combine this data into a common format so that the data can be compared and correlated. Having a successful integration method allows the AGRV to make smart path-finding navigation decisions. Integrating these two sensors is one of the challenges for AGRVs that use this approach. The method presented in this paper employs a geometrical approach to combine the two data sets in real time. Tests, accomplished in simulation as well as on an actual AGRV, show excellent results.

关键词： Sensor Integration Autonomous Ground Robotic Vehicles vision Laser Measurement System

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Active objects programming for military autonomous mobile robots software prototyping

Active objects programming for military autonomous mobile ro...

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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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Panoramic Stereo Sphere vision

Panoramic Stereo Sphere Vision

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

作者： Feng, Weijia Zhang, Baofeng Roning, Juha Zong, Xiaoning Yi, Tian Tianjin Normal Univ Coll Comp & Informat Engn Tianjin Peoples R China Tianjin Univ Technol Tianjin Key Lab Control Theory & Appl Complied In Tianjin Peoples R China Univ Oulu Dept Comp Sci & Engn SF-90100 Oulu Finland

ISBN: (纸本)9780819494351

Conventional stereo vision systems have a small field of view (FOV) which limits their usefulness for certain applications. While panorama vision is able to "see" in all directions of the observation space, scene depth information is missed because of the mapping from 3D reference coordinates to 2D panoramic image. In this paper, we present an innovative vision system which builds by a special combined fish-eye lenses module, and is capable of producing 3D coordinate information from the whole global observation space and acquiring no blind area 360 degrees x360 degrees panoramic image simultaneously just using single vision equipment with one time static shooting. It is called Panoramic Stereo Sphere vision (PSSV). We proposed the geometric model, mathematic model and parameters calibration method in this paper. Specifically, video surveillance, robotic autonomous navigation, virtual reality, driving assistance, multiple maneuvering target tracking, automatic mapping of environments and attitude estimation are some of the applications which will benefit from PSSV.

关键词： Panoramic Stereo Sphere vision fish-eye lens parameters calibration

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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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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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