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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331-340 订阅

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Diffraction of light by 3D hexagonal phase gratings: Applications for robotic color vision

Diffraction of light by 3D hexagonal phase gratings: Applica...

引用

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

作者： Carbon, Margarita A. Boeing Co Canoga Park CA United States

Diffraction of light by 3D phase grating layers could be effectively used for color image processing in robotic vision. Gratings with hexagonal close-packed structures have the maximum amount of cells per volume unit, which leads to an advantage for color image processing. Using the 4D spectral method, we solve the wave equation for diffraction of light by a 3D hexagonal phase grating layer of spherical particles. Both ABCA and ABAB structures are considered. Distribution of diffracted light intensity is calculated in the Fraunhofer and Fresnel diffraction zones. For particular gating distances, the incident white light diffracts in three spatially separated maximums with the central wavelengths corresponding to the three primary colors. The wavelength dependence of diffracted light intensity, for incident white light, is calculated for the three maximums. In general case, by using these three primary curves one can reconstruct the color of incident light from corresponding values of light intensities measured in the three diffracted maximums. The conditions for self-imaging of 3D grating layers are formulated and investigated. Intensity distributions for diffracted light in planes of positive and negative self-imaging, and in a plane of lowest contrast are computed.

关键词： Robotics

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Design of large-window binary filters via iteration

Design of large-window binary filters via iteration

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

作者： Hirata, Nina S.T. Dougherty, Edward R. Barrera, Junior Universidade de Sao Paulo Sao Paulo Brazil

Rather than design an optimal filter over a large window, which may be computationally impossible or require unacceptable computation time, one can design an iterative filter, each stage of which is designed over a small window with acceptable design time. Theoretically, a two-stage iterative filter with each stage optimally designed over a window is suboptimal in comparison to the optimal filter over the larger window formed as the dilation of the small window with itself. In practice, however, filters are designed from realizations and lack of precision for design over a large window can result in a directly estimated optimal filter over a large window that performs worse than an iteratively designed filter. Using image-noise models, this paper considers three cases: (1) the designed filters are good estimates of the theoretically optimal filters, the two-stage iterative filter is close to optimal, and as further iterations are considered for both the small and large windows, the performance difference becomes small;(2) the designed filter over the large window is a poor estimate of the theoretically optimal filter and the iteratively designed filter outperforms the directly designed filter;(3) iteration cannot do well because the iteration window is too small for the image-noise model. We will see that, while in terms of logic there may be a significant difference between a noniterative and an approximating iterative filter, their probabilistic difference as operators on random processes can be negligible.

关键词： computer vision

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Mars lander robotics and machine vision capabilities for in-situ planetary science

Mars lander robotics and machine vision capabilities for in-...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Schenker, Paul S. Blaney, D.L. Brown, D.K. Bar-Cohen, Yoseph Lih, S.S. Lindemann, R.A. Paljug, Eric D. Slostad, Jeff T. Tharp, Gregory K. Tucker, C.E. Voorhees, C.J. Weisbin, Charles R. Baumgartner, E.T. Singer, R.B. Reid, R. Jet Propulsion Lab. Pasadena CA USA

ISBN: (纸本)0819419524

We overview our recent progress in lander-based robotics for Mars planetary science. Utilizing a 1:1 scale laboratory replica of the NASA Mar Surveyor '98 mission, JPL engineers and Mars science colleagues have demonstrated approaches to lander science functions such as robotic sample acquisition and deposition, end-effector based microscopic viewing, hand-carried science instrument data collection, and science instrument emplacement by a robot. Some of the significant technical advances underlying this simulated Mars flight capability include JPL's innovation of a new lightweight, mechanically stiff, gas deployed telescopic two meter robot arm, and cooperative engineering work with Michigan Tech colleagues on automated visual positioning control of robotic sampling. University of Arizona and JPL have further developed complementary advances in lander-based imaging spectroscopy and its robotic enablement. We outline this work, summarizing its key technical features, and illustrating experimental progress with photographs and an accompanying conference videotape.

关键词： Spacecraft

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AI-based vision system for collision detection in HRC applications 9

AI-based vision system for collision detection in HRC applic...

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9th CIRP conference on Assembly Technology and Systems, CATS 2022

作者： Makris, Sotiris Aivaliotis, Panagiotis Laboratory for Manufacturing Systems and Automation Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece

Human-Robot Collaboration (HRC) enabling mechanisms require real-time detection of potential collisions among human and robots. Taking under consideration the already existing standards and the literature, most of collision detection techniques require the integration of sensorial systems on the robot aiming to identify the contact events. This paper deals with a novel approach for the identification of human and robot collision based on vision systems. Moreover, Artificial intelligent (AI) algorithms are required to classify the captured data near real-time and to provide a score about the collision status (contact or non-contact) between a human and the robot. Accordingly, the AI models should be trained using the appropriate image data enabling an accurate classification. The proposed system has been developed in a lab environment. A detailed presentation of the system implementation, its performance and the potential integration in a real industrial environment are discussed in this paper. © 2022 Elsevier B.V.. All rights reserved.

关键词： computer vision

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Active learning for robot manipulation 16

Active learning for robot manipulation

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16th European conference on Artificial Intelligence, ECAI 2004

作者： Morales, Antonio Chinellato, Eris Fagg, Andrew H. Del Pobil, Angel P. Intelligent Robotics Lab. Univertitat Jaume I Castellon Spain Computer Science Department University of Massachusetts AmherstMA United States

ISBN: (纸本)9781586034528

This paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible grasps and to execute any of them and measure their actual reliability. An algorithm aimed at predicting the performance of an untested grasp using the results observed on previous similar attempts is presented. The previous experience is stored using a set of vision-based grasp descriptors. Moreover, a second algorithm that actively selects the next grasp to be executed in order to improve the predictive quality of the accumulated experience is introduced. An exhaustive database of experimental data is collected and used to test and validate both algorithms.

关键词： Anthropomorphic robots

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The effect of spatial resolution reduction techniques on the temporal properties of video sequences

The effect of spatial resolution reduction techniques on the...

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2005 IEEE/RSJ International conference on intelligent robots and Systems

作者： K. Saitwal A.A. Maciejewski R.G. Roberts Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA Department of Electrical and Computer Engineering Florida A&M University-Florida State University Tallahassee FL USA

Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computer vision and robotics applications. The left singular vectors represent the eigenimages, while the right singular vectors represent the temporal properties of the video sequence. It is obvious that spatial reduction techniques affect the left singular vectors; however, the extent of their effect on the right singular vectors is not clear. Understanding how the right singular vectors are affected is important because many SVD algorithms rely on computing them as an intermediate step to computing the eigenimages. The work presented here quantifies the effects of different spatial resolution reduction techniques on the right singular vectors that are computed from those video sequences. Examples show that using random sampling for spatial resolution reduction rather than a low-pass filtering technique results in less perturbation of the temporal properties.

关键词： Spatial resolution Video sequences Frequency computer vision Robot vision systems Application software Face detection Collaborative work Government Image resolution

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A computer vision Algorithm for Path Planning in Mobile robots

A Computer Vision Algorithm for Path Planning in Mobile Robo...

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Pervasive and intelligent Computing (PICom), IEEE conference on

作者： Claudio Ruggieri Miriana Russo Corrado Santoro Federico Fausto Santoro STMicroelectronics System Research and Application Catania Italy Department of Mathematics and Informatics University of Catania Catania Italy

ISBN: (数字)9798331522742

ISBN: (纸本)9798331522759

In robotics, route planning is essential to ensure the safe and efficient movement of robots within the workplace. This process involves determining a trajectory, usually a series of points in the workspace, to achieve a specific goal. It is essential to consider criteria such as reducing the length of the route, the number of manoeuvres and the avoidance of obstacles. Route planning techniques generally require modelling the environment, representing both the structure and the obstacles (fixed or mobile), and the implementation of algorithms that generate the trajectory through the free areas of the environment. This approach often includes constructing a graph of possible trajectories and using minimum path search algorithms, such as A*. This article presents a route planning algorithm that uses Voronoi diagrams and uses artificial vision algorithms. In addition, a case study is described in which the proposed technique is applied to guide an automated system through a maze drawn on a whiteboard by a user.

关键词： Machine learning algorithms Accuracy Heuristic algorithms Machine vision Machine learning User interfaces Planning Trajectory Mobile robots Proposals

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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) (IEEE Cat. No.04CH37566)

作者： J. Campbell R. Sukthankar I. Nourbakhsh Robotics Institute Carnegie Mellon Pittsburgh PA USA Intel Research Pittsburgh Pittsburgh PA USA NASA Ames Research Center Moffett Field Moffett Field CA USA

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： Image motion analysis Ultraviolet sources Machine vision Biomedical optical imaging Optical sensors Motion estimation Cameras Biological systems Navigation Biology computing

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Euclidean reconstruction independent on camera intrinsic parameters

Euclidean reconstruction independent on camera intrinsic par...

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IEEE International Workshop on intelligent robots and Systems (IROS)

作者： E. Malis A. Bartoli I.N.R.I.A. Sophia-Antipolis France INRlA Rhone-Alpes France

Standard bundle adjustment techniques for Euclidean reconstruction consider camera intrinsic parameters as unknowns in the optimization process. Obviously, the speed of an optimization process is directly related to the number of unknowns and to the form of the cost function. The scheme proposed in this paper differs from previous standard techniques since unknown camera intrinsic parameters are not considered in the optimization process. Considering fewer unknowns in the optimization process produces a faster algorithm, which is more adapted to time-dependent applications such as robotics. Computationally expensive metric reconstruction, using for example several zooming cameras, considerably benefits from an intrinsics-free bundle adjustment.

关键词： Cameras Image reconstruction Cost function Robot vision systems Computational efficiency Reconstruction algorithms Layout Predictive models computer applications computer vision

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PRoViScout - a Planetary Scouting Rover Demonstrator

PRoViScout - a Planetary Scouting Rover Demonstrator

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

作者： Paar, Gerhard Woods, Mark Gimkiewicz, Christiane Labrosse, Frederic Medina, Alberto Tyler, Laurence Barnes, David P. Fritz, Gerald Kapellos, Konstantinos JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Aberystwyth Univ Aberystwyth Dyfed Wales GMVc Isaac Newton Tres Cantos 28760 Spain TRASYS Space B-1560 Hoeilaart Belgium

ISBN: (纸本)9780819489487

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

关键词： Planetary rover autonomous navigation robotic vision planning 3D-TOF Mars exploration decision making planetary science science interest

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