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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151-160 订阅

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A method for sensor processing, sensor integration, and navigation in mobile autonomous ground vehicles

A method for sensor processing, sensor integration, and navi...

引用

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

作者： Riggins, Robert N. Mutter, Bruce V. Baker, Scott Farmer, Jesse Huntley, Joy Kessler, Joe Lewis, Lenny Bleufield State Coll CART Inc Ctr Appl Res & Technol POB 2182 Bluefield WV 24701 USA

ISBN: (纸本)0819464821

This paper presents an algorithm for solving three challenges of autonomous navigation: sensor signal processing, sensor integration, and path-finding. The algorithm organizes these challenges into three steps. The first step involves converting the raw data from each sensor to a form suitable for real-time processing. Emphasis in the first step is on image processing. In the second step, the processed data from all sensors is integrated into a single map. Using this map as input, during the third step the algorithm calculates a goal and finds a suitable path from robot to the goal. The method presented in this paper completes these steps in this order and the steps repeat indefinitely. The robotic platform designed for testing the algorithm is a six-wheel mid-wheel drive system using differential steering. The robot, called Anassa II, has an electric wheelchair base and a custom-built top and it is designed to participate in the intelligent Ground Vehicle Competition (IGVC). The sensors consist of a laser scanner, a video camera, a Differential Global Positioning System (DGPS) receiver, a digital compass, and two wheel encoders. Since many intelligent vehicles have similar sensors, the approach presented here is general enough for many types of autonomous mobile robots.

关键词： sensor integration autonomous ground robotic vehicles vision path-planning

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Examples of design and achievement of vision Systems for mobile robotics applications

Examples of design and achievement of Vision Systems for mob...

引用

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

作者： Bonnin, PJ Cabaret, L Raulet, L Hugel, V Blazevic, P M'Sirdi, NK Coiffet, P Lab Robot Paris F-78140 Velizy France

ISBN: (纸本)0819438626

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications :wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions: indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory, We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9 CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a single FPGA.

关键词： vision systems robots controlled by vision hardware implementation of vision algorithms

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Remote hardware reconfigurable robotic camera

Remote hardware reconfigurable robotic camera

引用

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

作者： Arias-Estrada, M Torres-Huitzil, C Maya-Rueda, S Natl Inst Astrophys Opt & Elect Dept Comp Sci Puebla Mexico

ISBN: (纸本)081944300X

In this work, a camera with integrated image processing capabilities is discussed. The camera is based on an imager coupled to an FPGA device (Field Programmable Gate Array) which contains an architecture for real-time computer vision low-level processing. The architecture can be reprogrammed remotely for application specific purposes. The system is intended for rapid modification and adaptation for inspection and recognition applications, with the flexibility of hardware and software reprogrammability. FPGA reconfiguration allows the same ease of upgrade in hardware as a software upgrade process. The camera is composed of a digital imager coupled to an FPGA device, two memory banks, and a microcontroller. The microcontroller is used for communication tasks and FPGA programming. The system implements a software architecture to handle multiple FPGA architectures in the device, and the possibility to download a software/hardware object from the host computer, into its internal context memory. System advantages are: small size, low power consumption, and a library of hardware/software funcionalities that can be exchanged during run-time. The system has been validated with an edge detection and a motion processing architectures, which will be presented in the paper. Applications targeted are in robotics, mobile robotics, and vision based quality control.

关键词： smart camera FPGA for computer vision reconfigurable architectures

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Remote operation of robotics systems using WLAN and CORBA based architecture

Remote operation of robotics systems using WLAN and CORBA ba...

引用

conference on intelligent robots and computer vision XXI

作者： Tikanmäki, A Riekki, J Röning, J Univ Oulu Intelligent Syst Grp Oulu 90014 Finland

ISBN: (纸本)081945155X

Our work describes generic solutions for controlling various different robots through IEEE 802.11b Wireless LAN. Our goals have been to develop a remote-operating architecture for robots with different configurations of sensors and actuators, as well as, controlling multiple robots through a wireless network. Our earlier development work on network-distributed control architecture for mobile robots provides a suitable platform for remote operation. In CORBA based architecture, new sensors or actuators, and new automatic functionality are easy to append. In addition to functionality, we have been developing user interfaces that contain generally useful components for multiple purposes and a possibility to control different shapes of robots and multiple robots at the same time. As a basic idea, the user interface should always be easily customizable, platform portable and require only a minimum amount of installation packages.

关键词： tele-robotics customizable user interface web technology

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computer vision inspection of rice seeds quality with discriminant analysis

Computer vision inspection of rice seeds quality with discri...

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

作者： Cheng, F Ying, YB Zhejiang Univ Coll Biosyst Engn & Food Sci Hangzhou 310029 Peoples R China

ISBN: (纸本)081945561X

This study was undertaken to develop computer vision-based rice seeds inspection technology for quality control. Color image classification using a discriminant analysis algorithm identifying germinated rice seed was successfully implemented. The hybrid rice seed cultivars involved were Jinyou402, Shanyou10, Zhongyou207 and Jiayou99. Sixteen morphological features and six color features were extracted from sample images belong to training sets. The color feature of 'Huebmean' shows the strongest classification ability among all the features. Computed as the area of seed region divided by area of the smallest convex polygon that can contain the seed region, the feature of 'Solidity' is prior to the other morphological features in germinated seeds recognition. Combined with the two features of 'Huebmean' and 'Solidity', discriminant analysis was used to classify normal rice seeds and seeds germinated on panicle. Results show that the algorithm achieved an overall average accuracy of 98.4% for both of normal seeds and germinated seeds in all cultivars. The combination of 'Huebmean' and 'Solidity' was proved to be a good indicator for germinated seeds. The simple discriminant algorithm using just two features shows high accuracy and good adaptability.

关键词： computer vision rice seeds germinated discriminant analysis

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Measurement of the area of involvement in skin disease

Measurement of the area of involvement in skin disease

引用

conference on intelligent robots and computer vision XV: algorithms, techniques, Active vision, and Materials Handling

作者： Roning, J Kontinen, J Univ. of Oulu Oulu Finl Finland

ISBN: (纸本)0819423068

The ability to assess the severity of dermatoses by measuring the area of involvement is important in both clinical practice and research, but it has been shown that physicians, nurses and other groups are unable to do this accurately. A common practice in current use is the 'rule of nine' method, but wide variations have been found between observers' estimates. The purpose of this work was to test and demonstrate the feasibility of a computer vision technique for measuring the area of involvement in skin diseases by developing a system for psoriasis area assessment from slides which can be operated in an image processing environment. The exact percentage of the slide area involved varied from 1% to 59%, thus providing realistic material for the system. The system proved sufficiently accurate, and the techniques evidently have a potential for inclusion as parts of a more accurate and rapid method for area measurement in the case of skin diseases.

关键词： psoriasis machine vision area of involvement

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vision system and three dimensional modeling techniques for quantification of the morphology of irregular particles

Vision system and three dimensional modeling techniques for ...

引用

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

作者： Smith, LN Smith, ML Univ W England Fac Engn Bristol BS16 1QY Avon England

ISBN: (纸本)0819438626

Particulate materials undergo processing in many industries, and therefore there are significant commercial motivators for attaining improvements in the flow and packing behavior of powders. This can be achieved by modeling the effects of particle size, friction, and most importantly, particle shape or morphology. The method presented here for simulating powders employs a random number generator to construct a model of a random particle by combining a sphere with a number of smaller spheres. The resulting 3D model particle has a 'nodular' type of morphology, which is similar to that exhibited by the atomized powders that are used in the bulk of powder metallurgy (PM) manufacture. The irregularity of the model particles is dependent upon vision system data gathered from microscopic analysis of real powder particles. A methodology is proposed whereby randomly generated model particles of various sizes and irregularities can be combined in a random packing simulation. The proposed Monte Carlo technique would allow incorporation of the effects of gravity, wall friction, and inter-particle friction. The improvements in simulation realism that this method is expected to provide would prove useful for controlling powder production, and for predicting die fill behavior during the production of PM parts.

关键词： particle morphology powder simulation vision analysis

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Remote controlled, vision guided, mobile robot system

Remote controlled, vision guided, mobile robot system

引用

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

作者： Ande, R Samu, T Hall, EL Univ. of Cincinnati (United States)

ISBN: (纸本)0819426407

Automated Guided Vehicles (AGV's) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association far Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot bar;full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed bq a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

关键词： vision guidance remote control mobile robot tracking

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The Magic Glove: A Gesture-Based Remote Controller for intelligent Mobile robots

The Magic Glove: A Gesture-Based Remote Controller for Intel...

引用

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

作者： Luo, Chaomin Chen, Yue Krishnan, Mohan Paulik, Mark Univ Detroit Mercy Dept Elect & Comp Engn Detroit MI 48221 USA

ISBN: (纸本)9780819489487

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

关键词： Magic Glove gesture-based remote controller Player/Stage accelerometer microcontroller Bluetooth device intelligent mobile robots

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Boundary extraction in the SEM cross section of LSI

Boundary extraction in the SEM cross section of LSI

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

作者： Nakamae, K Midoh, Y Miura, K Fujioka, H Osaka Univ Grad Sch Engn Dept Informat Syst Engn Suita Osaka 5650871 Japan

ISBN: (纸本)081944300X

We have proposed a boundary extraction algorithm for cross-sectional critical dimension (CD) measurements of the scanning electron microscope (SEM) images in machine/computer vision. Noisy SEM images have the image discontinuity of roof edge with peak. A task is to extract a low contrast boundary or edge with about one pixel width in a noisy cross sectional SEM image. Also CD measurements require that the algorithm locate a boundary or an edge at the correct position. Our policy is to detect the edges with high degree of confidence at first, and then to extract the edges with the high probabilities of edge that are calculated by using gray levels of neighboring pixels. Our proposed algorithm integrates the Gaussian pyramid to suppress noise, morphological operations to detect the edges with high degree of confidence, the relaxation method to recover the gaps in the detected edges, and the hierarchical approach. Application of the proposed algorithm to cross sectional SEM images of DRAMs shows its validity.

关键词： critical dimension measurements cross sectional SEM image boundary extraction morphological operators machine vision

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