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Indoor Mobile Robotics at Grima, PUC

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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A FAST, CHEAP, AND EASY SYSTEM FOR OUTSIDE vision ON MARS 12

A FAST, CHEAP, AND EASY SYSTEM FOR OUTSIDE VISION ON MARS

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

作者： GAVIN, AS YAMAMOTO, M MIT DEPT ELECT ENGN & COMP SCIARTIFICIAL INTELLIGENCE LABCAMBRIDGEMA 02139

ISBN: (纸本)0819413208

In the design and construction of mobile robots vision has always been one of the most potentially useful sensory systems. In practice however, it has also become the most difficult to successfully implement. At the MIT Mobile Robotics (Mobot) Lab we have designed a small, light, cheap, and low power Mobot vision System that can be used to guide a mobile robot in a constrained environment. The target environment is the surface of Mars, although we believe the system should be applicable to other conditions as well. It is our belief that the constraints of the Maitian environment will allow the implementation of a system that provides vision based guidance to a small mobile rover. The purpose of this vision system is to process realtime visual input and provide as output information about the relative location of safe and unsafe areas for the robot to go. It might additionally provide some tracking of a small number of interesting feature, for example the lander. The system is designed t.o be self contained. It has its own camera and on board processing unit. It draws a small amount of power and exchanges a very small amount of information with the host robot. The project has two parts, first the construction of a hardware platform, and second the implementation of a successful vision algorithm. For the first part of the project, which is nearly complete, we have built a small self contained vision system. It employs a cheap but fast general purpose microcontroller (a 68332) connected to a Charge Coupled Device (CCD). The CCD provides the CPU with a continuous series of medium resolution gray-scale images (64 by 48 pixels with 256 gray levels at 10-15 frames a second). In order to accommodate our goals of low power, light weight, and small size we are bypassing the traditional NTSC video and using a purely digital solution. As the frames are captured any desired algorithm can then be implemented on the microcontroller to extract the desired information from the image

关键词： Charge coupled devices

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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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SENSOR FUSION OF 2-D AND 3-D DATA FOR THE PROCESSING OF IMAGES OF DENTAL IMPRINTS 12

SENSOR FUSION OF 2-D AND 3-D DATA FOR THE PROCESSING OF IMAG...

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

作者： METHOT, F MOKHTARI, M LAURENDEAU, D POUSSART, D UNIV LAVAL DEPT ELECT ENGNCOMP VIS & DIGITAL SYST LABQUEBEC CITY G1K 7P4QUEBECCANADA

ISBN: (纸本)0819413208

This paper presents a computer vision system for the acquisition and processing of 3-D images of wax dental imprints. The ultimate goal of the system is to measure a set of 10 orthodontic parameters that will be fed to an expert system for automatic diagnosis of occlusion problems. An approach for the acquisition of range images of both sides of the imprint is presented. Range is obtained from a shape-from-absorption technique applied to a pair of grey-level images obtained at two different wavelengths. The accuracy of the range values is improved using sensor fusion between the initial range image and a reflectance image from the pair of grey-level images. The improved range image is segmented in order to find the interstices between teeth and, following further processing, the type of each tooth on the profile. Once each tooth has been identified, its accurate location on the imprint is found using a region- growing approach and its shape is reconstructed with third degree polynomial functions. The reconstructed shape will be later used by the system to find specific features that are needed to estimate the orthodontic parameters.

关键词： Image fusion Teeth Reflectivity 3D image processing Image processing 3D acquisition computer vision technology Machine vision Optical spheres Sensor fusion

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Training industrial robots with gesture recognition techniques

Training industrial robots with gesture recognition techniqu...

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

作者： Piane, Jennifer Raicu, Daniela Furst, Jacob Yaskawa Amer Inc Waukegan IL 60085 USA Depaul Univ Chicago IL 60604 USA

ISBN: (纸本)9780819494351

In this paper we propose to use gesture recognition approaches to track a human hand in 3D space and, without the use of special clothing or markers, be able to accurately generate code for training an industrial robot to perform the same motion. The proposed hand tracking component includes three methods: a color-thresholding model, naive Bayes analysis and Support Vector Machine (SVM) to detect the human hand. Next, it performs stereo matching on the region where the hand was detected to find relative 3D coordinates. The list of coordinates returned is expectedly noisy due to the way the human hand can alter its apparent shape while moving, the inconsistencies in human motion and detection failures in the cluttered environment. Therefore, the system analyzes the list of coordinates to determine a path for the robot to move, by smoothing the data to reduce noise and looking for significant points used to determine the path the robot will ultimately take. The proposed system was applied to pairs of videos recording the motion of a human hand in a, real. environment to move the end-affector of a SCARA robot along the same path as the hand of the person in the video. The correctness of the robot motion was determined by observers indicating that motion of the robot appeared to match the motion of the video.

关键词： Naive Bayes Support Vector Machine Stereo matching Gesture recognition Industrial Robot

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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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LandingNav: A precision autonomous landing sensor for robotic platforms on planetary bodies

LandingNav: A precision autonomous landing sensor for roboti...

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

作者： Katake, Anup Bruccoleri, Christian Singla, Puneet Junkins, John L. StarVis Technol Inc 400 Harvey Mitchell Pkwy SSuite 400 College Stn TX 77845 USA Univ Buffalo Dept Mech & Aerosp Engn Buffalo NY USA Texas A&M Univ Dept Aerosp Engn College Stn TX 77843 USA

ISBN: (纸本)9780819479327

Increased interest in the exploration of extra terrestrial planetary bodies calls for an increase in the number of spacecraft landing on remote planetary surfaces. Currently, imaging and radar based surveys are used to determine regions of interest and a safe landing zone. The purpose of this paper is to introduce LandingNav, a sensor system solution for autonomous landing on planetary bodies that enables landing on unknown terrain. LandingNav is based on a novel multiple field of view imaging system that leverages the integration of different state of the art technologies for feature detection, tracking, and 3D dense stereo map creation. In this paper we present the test flight results of the LandingNav system prototype. Sources of errors due to hardware limitations and processing algorithms were identified and will be discussed. This paper also shows that addressing the issues identified during the post-flight test data analysis will reduce the error down to 1-2%, thus providing for a high precision 3D range map sensor system.

关键词： autonomous planetary landing stereo vision terrain mapping dense range map estimation localization

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Relating Vanishing Points to Catadioptric Camera Calibration

Relating Vanishing Points to Catadioptric Camera Calibration

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

作者： Duan, Wenting Zhang, Hui Allinson, Nigel M. Lincoln Univ Lab Vis Engn Brayford Pool LN6 7TS Lincoln England United Int Coll Dept Comp Sci Zhuhai Guangdong Peoples R China PKU HKUST Shenzhen Hong Kong Institut Shenzhen Key Lab Intelligent Media & Speech Shenzhen Peoples R China

ISBN: (纸本)9780819494351

This paper presents the analysis and derivation of the geometric relation between vanishing points and camera parameters of central catadioptric camera systems. These vanishing points correspond to the three mutually orthogonal directions of 3D real world coordinate system (i.e. X, Y and Z axes). Compared to vanishing points (VPs) in the perspective projection, the advantages of VPs under central catadioptric projection are that there are normally two vanishing points for each set of parallel lines, since lines are projected to conics in the catadioptric image plane. Also, their vanishing points are usually located inside the image frame. We show that knowledge of the VPs corresponding to XYZ axes from a single image can lead to simple derivation of both intrinsic and extrinsic parameters of the central catadioptric system. This derived novel theory is demonstrated and tested on both synthetic and real data with respect to noise sensitivity.

关键词： Vanishing points catadioptric camera calibration projection geometry

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Adaptive fuzzy approach for modeling of operational space for autonomous mobile robots

Adaptive fuzzy approach for modeling of operational space fo...

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Proceedings of the 1998 conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

作者： Musilek, Petr Gupta, Madan M. Univ of Saskatchewan Saskatoon Canada

robots operating in an unstructured environment need high level modeling of their operational space in order to plan a path from an initial position to a desired goal. A fuzzy approach to evaluate each unit region on a grid map by a certain value of transition cost is proposed. The method employs fuzzy granulation of information on various terrain features and their combination based on a fuzzy neural network.

关键词： Mobile robots

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Dynamic omni-directional vision localization using a beacon tracker based on particle filter

Dynamic omni-directional vision localization using a beacon ...

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

作者： Cao, Zuoliang Liu, Shiyu Tianjin Univ Technol Tianjin 300191 Peoples R China

ISBN: (纸本)9780819469243

Omni-directional vision navigation for AGVs appears definite significant since its advantage of panoramic sight with a single compact visual scene. This unique guidance technique involves target recognition, vision tracking, object positioning, path programming. An algorithm for omni-vision based global localization which utilizes two overhead features as beacon pattern is proposed in this paper. An approach for geometric restoration of omni-vision images has to be considered since an inherent distortion exists. The mapping between image coordinates and physical space parameters of the targets can be obtained by means of the imaging principle on the fisheye lens. The localization of the robot can be achieved by geometric computation. Dynamic localization employs a beacon tracker to follow the landmarks in real time during the arbitrary movement of the vehicle. The coordinate transformation is devised for path programming based on time sequence images analysis. The beacon recognition and tracking are a key procedure for an onmi-vision guided mobile unit. The conventional image processing such as shape decomposition, description, matching and other usually employed technique are not directly applicable in omni-vision. Particle filter (PF) has been shown to be successful for several nonlinear estimation problems. A beacon tracker based on Particle Filter which offers a probabilistic framework for dynamic state estimation in visual tracking has been developed. We independently use two Particle Filters to track double landmarks but a composite algorithm on multiple objects tracking conducts for vehicle localization. We have implemented the tracking and localization system and demonstrated the relevant of the algorithm.

关键词： omni-directional vision dynamic localization beacon tracker particle filter

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