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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11-20 订阅

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3D vision system for intelligent milking robot automation

3D vision system for intelligent milking robot automation

引用

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

作者： Akhloufi, M. A. Ctr Robot & Vis Ind Levis PQ G6V 6Z9 Canada

ISBN: (纸本)9780819499424

In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real- time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

关键词： 3D vision multimodal fusion intelligent systems RGBD TOF real-time robotics milking robot.

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Motion lecture annotation system to learn Naginata performances

Motion lecture annotation system to learn Naginata performan...

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

作者： Kobayashi, Daisuke Sakamoto, Ryota Nomura, Yoshihiko Mie Univ Grad Sch Engn 1577 Kurima Machiya Tsu Mie Japan Mie Univ Hosp Tsu Mie Japan

ISBN: (纸本)9780819499424

This paper describes a learning assistant system using motion capture data and annotation to teach "Naginata-jutsu" (a skill to practice Japanese halberd) performance. There are some video annotation tools such as YouTube. However these video based tools have only single angle of view. Our approach that uses motion-captured data allows us to view any angle. A lecturer can write annotations related to parts of body. We have made a comparison of effectiveness between the annotation tool of YouTube and the proposed system. The experimental result showed that our system triggered more annotations than the annotation tool of YouTube.

关键词： Sports Instruction Motion Capture Virtual Reality e-Learning Annotation Human computer Interaction

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Discrete and Continuous Curvature Computation for Real Data

Discrete and Continuous Curvature Computation for Real Data

引用

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

作者： Colbry, Dirk Shrikhande, Neelima Michigan State Univ E Lansing MI 48824 USA Cent Michigan Univ Mt Pleasant MI 48858 USA

ISBN: (纸本)9780819499424

This paper describes two methods for estimating the minimum and maximum curvatures for a 3D surface and compares the computational efficiency of these approaches on 3D sensor data. The classical method of Least Square Fitting (LSF) finds an approximation of a cubic polynomial fit for the local surface around the point of interest P and uses the coefficients to compute curvatures. The Discrete Differential Geometry (DDG) algorithm approximates a triangulation of the surface around P and calculates the angle deficit at P as an estimate of the curvatures. The accuracy and speed of both algorithms are compared by applying them to synthetic and real data sets with sampling neighborhoods of varying sizes. Our results indicate that the LSF and DDG methods produce comparable results for curvature estimations but the DDG method performs two orders of magnitude faster, on average. However, the DDG algorithm is more susceptible to noise because it does not smooth the data as well as the LSF method. In applications where it is not necessary for the curvatures to be precise (such as estimating anchor point locations for face recognition) the DDG method yields similar results to the LSF method while performing much more efficiently.

关键词： 3D scanning Strontium Optical spheres Statistical analysis Facial recognition systems computer graphics Detection and tracking algorithms Evolutionary algorithms Image processing 3D modeling

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An intelligent Hybrid Behavior Coordination System for an Autonomous Mobile Robot

An Intelligent Hybrid Behavior Coordination System for an Au...

引用

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

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

ISBN: (纸本)9780819499424

In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

关键词： Behavior coordination system PID controller wall-following navigation obstacle avoidance template-based navigation autonomous mobile robot module-based programming technique

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Self-localization for an Autonomous Mobile Robot Based on an Omni-directional vision System

Self-localization for an Autonomous Mobile Robot Based on an...

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

作者： Chiang, Shu-Yin Lin, Kuang-Yu Chia, Tsorng-Lin Ming Chuan Univ Dept Informat & Telecommun Engn Taoyuan 333 Taiwan Ming Chuan Univ Dept Comp & Commun Engn Taoyuan 333 Taiwan

ISBN: (纸本)9780819499424

In this study, we designed an autonomous mobile robot based on the rules of the Federation of International Robot-soccer Association (FIRA) RoboSot category, integrating the techniques of computer vision, real-time image processing, dynamic target tracking, wireless communication, self-localization, motion control, path planning, and control strategy to achieve the contest goal. The self-localization scheme of the mobile robot is based on the algorithms featured in the images from its omni-directional vision system. In previous works, we used the image colors of the field goals as reference points, combining either dual-circle or trilateration positioning of the reference points to achieve self-localization of the autonomous mobile robot. However, because the image of the game field is easily affected by ambient light, positioning systems exclusively based on color model algorithms cause errors. To reduce environmental effects and achieve the self-localization of the robot, the proposed algorithm is applied in assessing the corners of field lines by using an omni-directional vision system. Particularly in the mid-size league of the RobotCup soccer competition, self-localization algorithms based on extracting white lines from the soccer field have become increasingly popular. Moreover, white lines are less influenced by light than are the color model of the goals. Therefore, we propose an algorithm that transforms the omni-directional image into an unwrapped transformed image, enhancing the extraction features. The process is described as follows: First, radical scan-lines were used to process omni-directional images, reducing the computational load and improving system efficiency. The lines were radically arranged around the center of the omni-directional camera image, resulting in a shorter computational time compared with the traditional Cartesian coordinate system. However, the omni-directional image is a distorted image, which makes it difficult to recognize the

关键词： mobile robot self-localization omni-directional vision dual circle trilateration cross ratio.

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A real time vehicles tracking system for an outdoor mobile robot

A real time vehicles tracking system for an outdoor mobile r...

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

作者： Ge, Kanbing Forging Ctr Co Ltd Osaka Japan

This paper describes progress toward a street-crossing system for an outdoor mobile robot. The system can detect and track vehicles in real time. It reasons about extracted motion regions to decide when it is safe to ... 详细信息

ISBN: (纸本)9780819469243

关键词： mobile robots street crossing computer vision vehicle tracking

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High-speed object matching and localization using gradient orientation features

High-speed object matching and localization using gradient o...

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

作者： Xu, Xinyu van Beek, Peter Feng, Xiaofan Sharp Labs Amer Camas WA 98607 USA

ISBN: (纸本)9780819499424

In many robotics and automation applications, it is often required to detect a given object and determine its pose (position and orientation) from input images with high speed, high robustness to photometric changes, and high pose accuracy. We propose a new object matching method that improves efficiency over existing approaches by decomposing orientation and position estimation into two cascade steps. In the first step, an initial position and orientation is found by matching with Histogram of Oriented Gradients (HOG), reducing orientation search from 2D template matching to 1D correlation matching. In the second step, a more precise orientation and position is computed by matching based on Dominant Orientation Template (DOT), using robust edge orientation features. The cascade combination of the HOG and DOT feature for high-speed and robust object matching is the key novelty of the proposed method. Experimental evaluation was performed with real-world single-object and multi-object inspection datasets, using software implementations on an Atom CPU platform. Our results show that the proposed method achieves significant speed improvement compared to an already accelerated template matching method at comparable accuracy performance.

关键词： Object matching fast object search fast template matching histogram of oriented gradients dominant orientation template coarse to fine search factory inspection machine vision robotics

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Dynamic vision systems for intelligent robots

Dynamic vision systems for intelligent robots

引用

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

作者： Nguyen, MC Bui, DT TUM Dept Comp Sci Munich Germany

ISBN: (纸本)081944300X

The logical structure of robot vision systems is introduced. It can be used as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four hierarchical levels where at each level knowledge representation in the form of partial models and data fusion complement each other. Multi-processor architectures supporting this type of structure are introduced as a particularly efficient basis for robot vision systems. Practical implementation is given.

关键词： dynamic vision systems intelligent robots robot vision

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Advanced remote operation of swarms of robots

Advanced remote operation of swarms of robots

引用

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

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

ISBN: (纸本)081945561X

This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots can be either simulated or real physical robots. In addition to direct control of the robots, the user interface part of the tool can be used to develop robot behaviours using plug-ins made with Java or our graphical state machine editor. The development and testing of behaviours can be facilitated by using methods tested with the supporting simulation features of the tool before controlling real robots.

关键词： swarm of robots remote operation behaviours markers

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Active stereo for mobile robot vision

Active stereo for mobile robot vision

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

作者： Viitanen, J VTT Automat FIN-33101 Tampere Finland

ISBN: (纸本)081942983X

This paper describes a practical approach for environment perception using fusion of active ranging with a low-power laser and passive, stereo based ranging. A low-cost, coarse pitch linear detector is used, but still sufficient distance accuracy for mobile robotics is achieved by using a new method of sub-pixel calibration. The device is intended for mobile robot or vehicle perception duties in obstacle detection and target position measurement.

关键词： computer vision stereo mobile robots

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