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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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Planning of collision free paths for holonic Blastman robots

Planning of collision free paths for holonic Blastman robots

引用

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

作者： Rintala, M Heikkila, T Blastman Robot Ltd FIN-90101 Oulu Finland

ISBN: (纸本)081942983X

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out succesfully.

关键词： robots Space robots Telescopes Robotic systems Space telescopes Algorithm development Manufacturing computer programming Free space Robotics

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intelligent robot trends for 1998

Intelligent robot trends for 1998

引用

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

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

ISBN: (纸本)081942983X

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

关键词： Control systems Robotics Robot vision Mechatronics Manufacturing Sensors Visualization intelligent sensors Kinematics Safety

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Fast face localization for mobile robots: signature analysis and color processing

Fast face localization for mobile robots: signature analysis...

引用

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

作者： Grana, M Gonzalez, AI Raducanu, B Echave, I UPV EHU Dept CCIA San Sebastian 20080 Spain

ISBN: (纸本)081942983X

The purpose of our works is to provide fast and reliable face localization techniques in real time an in real-life scenes. Person localization is included in this problem. The end application sought is the ability of mobile robots to navigate in human populated environments, and to start visual interaction with them. Known methods are computationally intensive, far from real time implementation at near future processing power of off-the-shelf processors. Our technique is based in motion segmentation, signature analysis and color processing. Signature analysis provides fast hints of the person and face localization. Color processing is used to confirm the face hypothesis, and it is based on our works on adaptive color quantization of image sequences. The technique can be implemented in real time and combined with other approaches to enhance the recognition results.

关键词： color processing face localization person localization

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Fuzzy logic control for an automated guided vehicle

Fuzzy logic control for an automated guided vehicle

引用

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

作者： Cao, M Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar sensors as well as stored map information can be cased to guide the robot. Sensor fusion can be accomplished between real time sensed information and stored information in a manner similar to a human decision maker. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating to the computer the X,Y coordinates of a lane marker. Testing of these systems yielded positive results by showing that at five miles per hour, the vehicle can follow a line and avoid obstacles. The obstacle detection uses information from Polaroid sonar detection system. The motor control system uses a programmable Galil motion control system. This design, in its modularity, creates a portable autonomous controller that could be used for any mobile vehicle with only minor adaptations.

关键词： fuzzy logic vision guidance mobile robots motion control

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Digital image based tree measurement for forest inventory

Digital image based tree measurement for forest inventory

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

作者： Juujarvi, J Heikkonen, J Brandt, S Lampinen, J Helsinki Univ Technol Lab Computat Engn FIN-02015 HUT Finland

ISBN: (纸本)081942983X

In this paper we propose a digital camera based method for estimating the stem diameters of growing trees for forest inventory purposes. The imaging system consists of a single camera, a laser distance measurement device and a calibration stick placed beside the tree to be measured. To carry out the task camera geometry parameters are first;determined using linear pinhole camera and nonlinear lens distortion models. In addition of the accurate camera calibration, the viewing geometry has to be determined for 3-D measurement purpose with the help of the calibration stick. The estimation of the stem diameters is carried out by combining the stem curve information from the image with a priori stem form model. Experimental results reported with Scots pines indicate that this approach provides feasible solutions for the measurement task.

关键词： 3D machine vision camera calibration image segmentation stem form model forest inventory

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Stereo-based registration of LADAR and color imagery

Stereo-based registration of LADAR and color imagery

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

作者： Elstrom, MD Smith, PW Abidi, MA Univ Tennessee Dept Elect Engn Imaging Robot & Intelligent Syst Lab Knoxville TN 37996 USA

ISBN: (纸本)081942983X

A major problem in the creation of multi-sensory interfaces for tele-robotics is the development of methods for combining various data sources into one coherent world model for examination by the operator. However, if the images acquired from different sensing modalities can be registered with LADAR range images, texture mapping can be employed for sensor integration. Presented in this paper is a novel stereo-based method for registering color and LADAR images acquired from externally uncalibrated sensors fbr use in a visualization system as described above. In our approach, corresponding features are first extracted from LADAR intensity/color image pairs. Since the computation of Euclidean range using stereoscopic techniques depends on knowledge of the relative sensor orientation, a downhill simplex algorithm is iteratively applied to minimize the sum-squared-error between the stereo and LADAR range estimates of the matched points with respect to the system's relative rotation and translation parameters. Once the system's epipolar geometry has been estimated in this manner, the LADAR range data is employed to re-project the color image to the viewpoint of the scanner for use as a texture map.

关键词： color image processing range imaging registration stereo 3D vision : perception processing and modeling

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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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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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Expert system approach to design an automated guided vehicle

Expert system approach to design an automated guided vehicle

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

作者： Kumaraguru, K Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

The purpose of this paper is to describe an expert system to design the base of an automated guided vehicle. The components of the expert system include: A user-friendly graphic user input interface, where the user can enter specifications - like the environment used, application of the robot, etc.;An engine that converts the managerial requirements into technical parameters and designs the robot initially assuming some parameters and confirming its assumptions during the course of the design;when unable to do so, it iterates with different assumptions until they are met;the code also selects various materials to be used from a corresponding database;A database of various materials from their manufacturers/suppliers;The output data is interfaced with a CAD engine, which generates a 3-D solid model of the vehicle;A "Bill of Materials" file is generated as the output and suggestions for how to assemble them are given. The method has been tested by designing a small mobile robot. The software provides an excellent tool to develop a mobile robot based on performance specifications. Modeling helps the user understand the constraints on the design of the robot and the bill of materials - along with the vendor address, helps the user buy the components needed to assemble the robot.

关键词： expert system automated design solid modeling mobile robots

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Quality control in tile production

Quality control in tile production

引用

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

作者： Kalviainen, H Kukkonen, S Hyvarinen, T Parkkinen, J Lappeenranta Univ Technol Dept Informat Technol FIN-53851 Lappeenranta Finland

ISBN: (纸本)081942983X

This work studies visual quality control in ceramics industry. In tile manufacturing, it is important that in each set of tiles, every single tile looks similar. For example, the tiles should have similar color and texture. Our goal is to design a machine vision system that can estimate the sufficient similarity or same appearance to the human eye. Currently, the estimation is usually done by human vision. Differing from other approaches our aim is to use accurate spectral representation of color, and we are comparing spectral features to the RGB color features. A laboratory system for color measurements is built. Experimentations with five classes of brown tiles are presented. We use chromaticity RGB features and several spectral features for classification with the k-NN classifier and with a neural network, called Self-Organizing Map (SOM). Wt: can classify many of the tiles but there are several problems that need further investigations: larger training and test sets are needed, illuminations effects must be studied further, and more suitable spectral features are needed with more sophisticated classifiers. It is also interesting to develop further the neural approach.

关键词： tiles ceramic industry quality control inspection classification color image processing multispectral images machine vision neural network

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