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检索条件"任意字段=Conference on Intelligent Robots and Computer Vision XXXI - Algorithms and Techniques"

共 372 条记录，以下是141-150 订阅

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A modular real-time vision module for humanoid robots

A modular real-time vision module for humanoid robots

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

作者： Trifan, Alina Neves, Antonio J. R. Lau, Nuno Cunha, Bernardo Univ Aveiro IEETA DETI P-3810193 Aveiro Portugal

ISBN: (纸本)9780819489487

Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

关键词： Robotics robotic soccer computer vision object recognition humanoid robots color classification

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Navigation using self-initialising active contours.

Navigation using self-initialising active contours.

引用

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

作者： Molloy, D Whelan, PF Vision Systems Laboratory School of Electronic Engineering Dublin City University Glasnevin Dublin 9 Ireland

ISBN: (纸本)0819426407

This paper examines a novel approach for extracting motion information to allow the autonomous navigation of an intelligent mobile robot using computer vision in a moving camera, moving object environment. The approach begins by extracting low-level scene feature information using algorithms such as the SUSAN corner and edge detector. A routine is described for converting the information obtained from these stable features to initialisation information for creating active contour models or 'snakes'. Multiple open and closed active contours are identified in an initialisation frame from this primary feature extraction. These contours are allowed to converge more closely to the features to which they are attached. These contours are then allowed to converge to the features within each frame through image sequences, with criteria for the re-initialisation of new contours when motion information in the sequence or a region becomes sparse. The information received from these contour models is then used to determine. the motion information in the scene. Reasons for this approach are outlined and justified. This theoretical approach is then applied to the practical cases of a mobile robot navigating indoor scenes. Large sections of this approach have been implemented in the Khoros environment, with new routines written for this approach. Promising results are already available and this approach is being examined to allow the extraction of depth information in the scene for assisting navigation using a form of '3-D snakes'.

关键词： corners SUSAN active contours snakes edge-linking

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Stereo Matching Based on Two Cameras and One 3D Image Sensor

Stereo Matching Based on Two Cameras and One 3D Image Sensor

引用

conference on intelligent robots and computer vision XXVIII: algorithms and techniques

作者： Yang, Lu Shao, Xiaowei Shibasaki, Ryosuke Wang, Rongben Univ Tokyo Ctr Spatial Informat Sci Tokyo Japan Jilin Univ Intelligent Vehicle Grp Changchun Peoples R China

ISBN: (纸本)9780819484154

Due to the problems of noise, textureless region and depth discontinuity in stereo matching, a new matching method based on two cameras and one 3D image sensor is proposed in this paper. Though the 3D image sensor can offer a depth map, it has low resolution and much noise. Therefore, it can not be used to 3D reconstruction. However, combining two cameras with one 3D image sensor and regarding the depth map as an initial sparse disparity map is an advantage method in stereo vision matching. This method can largely improve the matching accuracy and decrease the running time. Finally, a dense disparity map can be obtained. The experiment results indicate that the proposed algorithm performs well and the disparity map has more accuracy comparing with existing methods.

关键词： Stereo vision 3D image sensor Area matching Belief propagation Left-and-right consistency Disparity map

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A design approach for small vision-based autonomous vehicles

A design approach for small vision-based autonomous vehicles

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

作者： Edwards, Barrett B. Fife, Wade S. Archibald, James K. Lee, Dah-Jye Wilde, Doran K. Brigham Young Univ Dept Elect & Comp Engn 435 Clyde Bldg Provo UT 84602 USA

ISBN: (纸本)0819464821

This paper describes the design of a small autonomous vehicle based on the Helios computing platform, a custom FPGA-based board capable of supporting on-board vision. Target applications for the Helios computing platform are those that require lightweight equipment and low power consumption. To demonstrate the capabilities of FPGAs in real-time control of autonomous vehicles, a 16 inch long R/C monster truck was outfitted with a Helios board. The platform provided by such a small vehicle is ideal for testing and development. The proof of concept application for this autonomous vehicle was a timed race through an environment with obstacles. Given the size restrictions of the vehicle and its operating environment, the only feasible on-board sensor is a small CMOS camera. The single video feed is therefore the only source of information from the surrounding enviromnent. The image is then segmented and processed by custom logic in the FPGA that also controls direction and speed of the vehicle based on visual input.

关键词： autonomous vehicle real-time vision FPGA centered design

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Beyond adaptive critic-creative learning for intelligent mobile robots

Beyond adaptive critic-creative learning for intelligent mob...

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

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

ISBN: (纸本)081944300X

intelligent industrial and mobile robots may be considered proven technology in structured environments. Teach programming and supervised learning methods permit solutions to a variety of applications. However, we believe that to extend the operation of these machines to more unstructured environments requires a new teaming method. Both unsupervised learning and reinforcement learning are potential candidates for these new tasks. The adaptive critic method has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning methods that goes beyond the adaptive critic method for unstructured environments. The adaptive critic is a form of reinforcement learning. A critic element provides only high level grading corrections to a cognition module that controls the action module. In the proposed system the critic's grades are modeled and forecasted, so that an anticipated set of sub-grades are available to the cognition model. The forecasting grades are interpolated and are available on the time scale needed by the action model. The success of the system is highly dependent on the accuracy of the forecasted grades and adaptability of the action module. Examples from the guidance of a mobile robot are provided to illustrate the method for simple line following and for the more complex navigation and control in an unstructured environment. The theory presented that is beyond the adaptive critic may be called creative theory. Creative theory is a form of learning that models the highest level of human learning- imagination. The application of the creative theory appears to not only be to mobile robots but also to many other forms of human endeavor such as educational learning and business forecasting. Reinforcement learning such as the adaptive critic may be applied to known problems to aid in the discovery of their solutions. The significance of creative theory is that it pe

关键词： reinforcement learning systems adaptive critic intelligent robots heuristic dynamic programming (HDP) dual heuristic programming (DHP) globalized DHP (GDHP)

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Linear stereo vision based objects detection and tracking using spectral clustering

Linear stereo vision based objects detection and tracking us...

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conference on intelligent robots and computer vision XXVIII: algorithms and techniques

作者： Moqqaddem, Safaa Ruichek, Y. Touahni, R. Sbihi, A. Univ Technol Belfort Montbelaird Syst & Transportat Lab F-90010 Belfort France Ibn Tofail Univ Kenitra LASTID Lab Kenitra Morocco

ISBN: (纸本)9780819484154

cr Objects detection and tracking is a key function for many applications like video surveillance, robotic, intelligent transportation systems, ... etc. This problem is widely treated in the literature in terms of sensors (video cameras, laser range finder, Radar) and methodologies. This paper proposes a new approach for detecting and tracking objects using stereo vision with linear cameras. After the matching process applied to edge points extracted from the images, the reconstructed points in the scene are clustered using spectral analysis. The obtained clusters are then tracked throughout their center of gravity using a Kalman filter and a Nearest Neighbour (NN) based data association algorithm. The approach is tested and evaluated on real data to demonstrate its effectiveness for obstacle detection and tracking in front of a vehicle. This work is a part of a project that aims to develop advanced driving aid systems, supported by the CPER, STIC and Volubilis programs.

关键词： Stereo vision Spectral clustering Tracking Data association

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Real-Time 3D Environment Model for Obstacle Detection and Collision Avoidance with a Mobile Service Robot

Real-Time 3D Environment Model for Obstacle Detection and Co...

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

作者： Kuehnle, J. U. Danzer, M. Verl, A. Bischoff, R. Fraunhofer Inst Mfg Engn & Automat IPA Nobelstr 12 D-70569 Stuttgart Germany KUKA Roboter GmbH D-86165 Augsburg Germany

ISBN: (纸本)9780819479327

In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.

关键词： 3D environment model obstacle detection collision avoidance mobile service robots 3D time-of-flight camera general-purpose computation on graphics processing unit

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The expanding venue and persistence of planetary mobile robotic exploration - new technology concepts for Mars and beyond

The expanding venue and persistence of planetary mobile robo...

引用

conference on intelligent robots and computer vision XXI

作者： Schenker, PS Elfes, A Hall, JL Huntsberger, TL Jones, JA Wilcox, BH Zimmerman, WF CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)081945155X

The domain and technology of mobile robotic space exploration are fast moving from brief visits to benign Mars surface regions to more challenging terrain and sustained exploration. Further, the overall venue and concept of space robotic exploration are expanding-"from flatland to 3D'-from the surface;to sub-surface and aerial theatres on disparate large and small planetary bodies, including Mars, Venus, Titan, Europa, and small asteroids. These new space robotic system developments are being facilitated by concurrent, synergistic advances in software and hardware technologies for robotic mobility, particularly as regard on-board system autonomy and novel thermo-mechanical design. We outline these directions of emerging mobile science mission interest and technology enablement, including illustrative work at JPL on terrain-adaptive and multi-robot cooperative rover systems, aerobotic mobility, and subsurface ice explorers.

关键词： space robotics mobile robots intelligent robots robotic sensing aerial robots subsurface exploration

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IMAGE-ANALYSIS OF PHOTOCHROMIC INK FOR SECURITY APPLICATIONS 12

IMAGE-ANALYSIS OF PHOTOCHROMIC INK FOR SECURITY APPLICATIONS

引用

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

作者： BATCHELOR, B STEPHENS, N UNIV WALES COLL CARDIFF COLL CARDIFFDEPT COMP MATHCARDIFF CF1 3NSS GLAMWALES

ISBN: (纸本)0819413208

Photochromic materials exist in two different color states, with switching between states being achieved by irradiation, with ultra-violet and visible light. By printing patterns and data using both photochromic ink and ordinary ink, it is possible to create a document that is difficult to forge and easy to authenticate. Security is achieved only by public ignorance about and the relative rarity of photochromic materials. Very high levels of security are possible, using modern data encipherment techniques. These are so secure that no known algorithmic method exists for breaking them in a practical amount of time. It should be understood that encipherment algorithms provide a way of protecting a message. Guaranteeing the authenticity of a complete document is better achieved using photochromic materials. This article describes a scheme which employs both techniques to achieve higher overall security than either can provide individually. Central to this idea is the ability to sense the presence of photochromic materials using machines, prior to recognizing specified patterns and reading text.

关键词： computer security Photochromic materials Computing systems Printing Ultraviolet radiation Image processing Visible radiation Lamps Switches robots

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Evaluation of the performance of a colour camera for measuring small colour differences

Evaluation of the performance of a colour camera for measuri...

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

作者： Marszalec, EA Martinkauppi, B Pietikainen, M Machine Vision and Media Processing Group Department of Electrical Engineering University of Oulu FIN-90571 Oulu PO Box 444 Finland

ISBN: (纸本)0819426407

Machine vision systems based on a colour camera are increasingly used for colour measurements under industrial conditions. An important problem in the measurement of small colour differences is related to metamerism. But because colour cameras and human vision have slightly different response functions, they produce different sets of ''tristimulus values'' for the same object viewed under the same illumination conditions, and it can happen that metameric pairs for a human are discriminated very well by a colour camera and vice versa. The purpose of the present research was to evaluate the performance of colour camera for measuring small colour differences. The tests were performed for the whole collection of the NCS COLOUR BLOCK' viewed under three different illuminants: Standard illuminant A, Standard Illuminant D-65 and illuminant F11, and for two options of colour camera, g-bit and 12-bit. The results show some limitations with lower bit camera for accurate colorimetric measurements and good performance with the 12-bit camera in discrimination of very similar colours.

关键词： small colour differences metamerism colour camera

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