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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261-270 订阅

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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...

引用

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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Efficient Absolute Orientation Revisited

Efficient Absolute Orientation Revisited

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25th IEEE/RSJ International conference on intelligent robots and Systems (IROS)

作者： Lourakis, Manolis Terzakis, George Fdn Res & Technol Hellas Inst Comp Sci Iraklion Greece Univ Portsmouth Fac Technol Portsmouth Hants England

ISBN: (纸本)9781538680940

Absolute orientation estimation is the determination of the similarity transformation between two sets of corresponding 3D points, a task arising frequently in computer vision and robotics. We have recently proposed an absolute orientation algorithm based on the Fast Optimal Attitude Matrix (FOAM) algorithm from astronautics and demonstrated that it is more efficient computationally compared to widely-used approaches involving costly eigen- and singular-value matrix decompositions. In this work, we compare our FOAM-based solution with several more algorithms derived from attitude estimation techniques and show that further computational savings are possible by employing an algorithm grounded on the Optimal Linear Attitude Estimator (OLAE) method.

关键词： Quaternions Estimation Symmetric matrices Eigenvalues and eigenfunctions Matrix decomposition Covariance matrices computer vision

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Omni-vision based autonomous mobile robotic platform

Omni-vision based autonomous mobile robotic platform

引用

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

作者： Cao, ZL Hu, J Cao, J Hall, EL Tianjin Univ Technol Tianjin Peoples R China

ISBN: (纸本)081944300X

As a Laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

关键词： mobile robot omni directional vision navigation teach-and-playback image database

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Reduction of computational complexity in the image/video understanding systems with active vision

Reduction of computational complexity in the image/video und...

引用

conference on intelligent robots and computer vision XXI

作者： Kuvich, G Smart Computer Vision Systems (United States)

ISBN: (纸本)081945155X

The vision evolved not only as a recognition system, but also as a sensory system for reaching, grasping and other motion activities. In advanced creatures, it has become a component of prediction functions, allowing the creation of environmental models and activity planning. Fast information processing and decision making requires reduction of informational and computational complexities. The brain achieves this goal using symbolic coding, hierarchical compression, and selective processing of visual information. Network-Symbolic representation, where both systematic structural/logical methods and neural/statistical methods are the parts of a single mechanism, is the most feasible for such models. It converts visual information into the relational Network-Symbolic structures, instead of precise computations of 3-dimensional models. Narrow foveal vision provides separation of figure from ground, object identification, semantic analysis, and precise control of actions. Rough wide peripheral vision identifies and tracks salient motion, guiding foveal system to salient objects. It also provides scene context. Objects and other stable systems have coherent relational structures. Network-Symbolic transformations derive more abstract structures that allow invariably recognize a particular structure as an exemplar of class. Robotic systems, equipped with such smart vision, will be able to navigate in any environment, understand situation, and act accordingly.

关键词： image video understanding network symbolic systems active vision knowledge engines

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Color Image Processing for Date Quality Evaluation

Color Image Processing for Date Quality Evaluation

引用

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

作者： Lee, Dah-Jye Archibald, James K. Brigham Young Univ Provo UT 84602 USA

ISBN: (纸本)9780819479327

Many agricultural non-contact visual inspection applications use color image processing techniques because color is often a good indicator of product quality. Color evaluation is an essential step in the processing and inventory control of fruits and vegetables that directly affects profitability. Most color spaces such as RGB and HSV represent colors with three-dimensional data, which makes using color image processing a challenging task. Since most agricultural applications only require analysis on a predefined set or range of colors, mapping these relevant colors to a small number of indexes allows simple and efficient color image processing for quality evaluation. This paper presents a simple but efficient color mapping and image processing technique that is designed specifically for real-time quality evaluation of Medjool dates. In contrast with more complex color image processing techniques, the proposed color mapping method makes it easy for a human operator to specify and adjust color-preference settings for different color groups representing distinct quality levels. Using this color mapping technique, the color image is first converted to a color map that has one color index represents a color value for each pixel. Fruit maturity level is evaluated based on these color indices. A skin lamination threshold is then determined based on the fruit surface characteristics. This adaptive threshold is used to detect delaminated fruit skin and hence determine the fruit quality. The performance of this robust color grading technique has been used for real-time Medjool date grading.

关键词： machine vision color mapping color grading Medjool date non-contact visual inspection

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Low cost, high performance robot design utilizing off-the-shelf parts and the Beowulf concept, The Beobot project.

Low cost, high performance robot design utilizing off-the-sh...

引用

conference on intelligent robots and computer vision XXI

作者： Mundhenk, TN Ackerman, C Chung, D Dhavale, N Hudson, B Hirata, R Pichon, E Shi, Z Tsui, A Itti, L Univ So Calif Dept Comp Sci Henry Salvatori Comp Sci Ctr Los Angeles CA 90089 USA

ISBN: (纸本)081945155X

Utilizing off the shelf low cost parts, we have constructed a robot that is small, light, powerful and relatively inexpensive (< $3900). The system is constructed around the Beowulf concept of linking multiple discrete computing units into a single cooperative system. The goal of this project is to demonstrate a new robotics platform with sufficient computing resources to run biologically-inspired vision algorithms in real-time. This is accomplished by connecting two dual-CPU embedded PC motherboards using fast gigabit Ethernet. The motherboards contain integrated Firewire, USB and serial connections to handle camera, servomotor, GPS and other miscellaneous inputs/outputs. Computing systems are mounted on a servomechanism-controlled off-the-shelf "Off Road" RC car. Using the high performance characteristics of the car, the robot can attain relatively high speeds outdoors. The robot is used as a test platform for biologically-inspired as well as traditional robotic algorithms, in outdoor navigation and exploration activities. Leader following using multi blob tracking and segmentation, and navigation using statistical information and decision inference from image spectral information are discussed. The design of the robot is open-source and is constructed in a manner that enhances ease of replication. This is done to facilitate construction and development of mobile robots at research institutions where large financial resources may not be readily available as well as to put robots into the hands of hobbyists and help lead to the next stage in the evolution of robotics, a home hobby robot with potential real world applications.

关键词： Beowulf robot vision biology low cost modular off-the-shelf

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Dexterous robotic sampling for Mars in-situ science

Dexterous robotic sampling for Mars in-situ science

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conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Schenker, PS Baumgartner, ET Lee, S Aghazarian, H Garrett, MS Lindemann, RA Brown, DK BarCohen, Y Lih, SS Joffe, B Kim, SS Hoffman, BH Huntsberger, T Jet Propulsion Lab. (United States) Massachusetts Institute of Technology (United States) Univ. of South Carolina (United States)

ISBN: (纸本)0819426407

Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources. Ln particular, robotic arms will assist in the detailed visual inspection, instrumented analysis, extraction, and earth return of soil and rock samples. To this end, we are developing new robotic manipulation concepts for use on landers and rovers, wherein mass, volume, power and the ambient Mars environment are significant design constraints. Our earlier work led to MarsArmI, a 2.2 meter, 3-d.o.f. hybrid metal/composite, DC-motor actuated arm operating under coordinated joint-space control;NASA's Mars Surveyor '98 mission utilizes this design concept More recently, we have conceived and implemented new, all-composite, very light robot arms: MarsArmII, a 4.0 kilogram, 2.3 meter arm for lander operations, and MicroArm-I and MicroArm-2, two smaller 1.0+ kilogram, .7 meter rover arms for mobile sample acquisition and Mars sample return processing. Features of these arms include our creation of new 3D machined composites for critical load-bearing parts;actuation by high-torque density ultrasonic motors;and visually-designated inverse kinematics positioning with contact force adaptation under a novel task-level, dexterous controls paradigm, Our demonstrated results include robotic trenching, sample grasp-manipulation-and-transfer, and fresh rock surface exposure-probing via the science operator's ''point-and-shoot'' visual task designation in a stereo workspace. Sensor-referenced control capabilities include red-time adaptation to positioning error and environmental uncertainties (e.g., variable soil resistance and impediments), and the synthesis of power optimal trajectories for free space manipulation.

关键词： space robotics manipulators intelligent control mobile robots planetary sampling Mars sample return

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Active video flow control technique based on spatio-temporal segmentation of video sequences

Active video flow control technique based on spatio-temporal...

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

作者： Urdiales, C Bandera, A Rodríguez, JA Sandoval, F Univ Malaga ETSI Telecomun Dpto Tecnol Elect E-29071 Malaga Spain

ISBN: (纸本)081944300X

This paper presents a control mechanism for video compression and transmission that relies on spatio-temporal image segmentation and non-uniform resolution representation. In the proposed scheme, a linked pyramid structure(1). is built over each frame. Therefore, the video sequence is processed as a 3D data batch instead of a series of 2D images. The spatio-temporal segmentation is based on the adaptive link principle(1,2). The set of link defined between nodes of a single pyramid structure is extended to consecutive pyramids. According to the adaptive link principle, links between consecutive pyramids axe rearranged so that a given node at a pyramid is linked to an homogeneous region of pixels at its base, but also to an homogeneous region of pixels at the base of the previous pyramid. Hence, resulting regions axe coherent in time but also in space and any region may be extracted and tracked through the sequence by following the link structure. Then, if we assume that the Most important regions of the frames are typically those changing more often, they can be represented at high resolution, while the least important regions can be represented at low resolution. This operation allows a severe data volume reduction when transmitting the video signal Besides, regions presenting few changes from frame to frame do not need to be transmitted as often as moving areas because they will be very similar during a few frames.

关键词： active vision non-uniform resolution images spatio-temporal segmentation video transmission

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Automatic calibration and neural networks for robot guidance

Automatic calibration and neural networks for robot guidance

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conference on intelligent robots and computer vision XXI

作者： Sethuramasamyraja, B Ghaffari, M Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

An autonomous robot must be able to sense its environment and react appropriately in a variable environment. The University of Cincinnati Robot team is actively involved in building a small, unmanned, autonomously guided vehicle for the International Ground Robotics Contest organized by Association for Unmanned Vehicle Systems International (AUVSI) each year. The unmanned vehicle is supposed to follow an obstacle course bounded by two white/yellow lines, which are four inches thick and 10 feet apart. The navigation system for one of the University of Cincinnati's designs, Bearcat, uses 2 CCD cameras and an image-tracking device for the front end processing of the image captured by the cameras. The three dimensional world co-ordinates were reduced to two dimensional image coordinates as a result of the transformations taking place from the ground plane to the image plane. A novel automatic calibration system was designed to transform the image co-ordinates back to world co-ordinates for navigation purposes. The purpose of this paper is to simplify this tedious calibration using an artificial neural network. Image processing is used to automatically detect calibration points. Then a back projection neural algorithm is used to learn the relationships between the image coordinates and three-dimensional coordinates. This transformation is the main focus of this study. Using these algorithms, the robot built with this design is able to track and follow the lines successfully.

关键词： calibration robotics neural network robot guidance robot vision

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Joint probabilistic techniques for tracking objects using multiple visual cues

Joint probabilistic techniques for tracking objects using mu...

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Proceedings of the 1998 IEEE/RSJ International conference on intelligent robots and Systems. Part 1 (of 3)

作者： Rasmussen, Christopher Hager, Gregory D. Yale Univ New Haven United States

robots relying on vision as a primary sensor frequently need to track common objects such as people, cars, and tools in order to successfully perform autonomous navigation or grasping tasks. These objects may comprise many visual parts and attributes, yet image-based tracking algorithms are often keyed to only one of a target's identifying characteristics. In this paper, we present a framework for sharing information among disparate state estimation processes operating on the same underlying visual object. Well-known techniques for joint probabilistic data association are adapted to yield increased robustness when multiple trackers attuned to different visual cues are deployed simultaneously. We also formulate a measure of tracker confidence, based on distinctiveness and occlusion probability, which permits the deactivation of trackers before erroneous state estimates adversely affect the ensemble. We will discuss experiments using color-region, and snake-based tracking in tandem that demonstrate the efficacy of this approach.

关键词： computer vision

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