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

共 372 条记录，以下是141-150 订阅

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Beyond adaptive critic-creative learning for intelligent mobile robots

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

引用

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...

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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

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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...

引用

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

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

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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...

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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

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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...

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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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