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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251-260 订阅

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Motion control design of the BEARCAT II mobile robot

Motion control design of the BEARCAT II mobile robot

引用

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

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

ISBN: (纸本)0819434302

Motion control is one of the most critical factors in the design of a robot. The purpose of this paper is to describe the research for applying motion control principles for a mobile robot systems design, which is on going at the University of Cincinnati Robotics Center. The mobile robot was constructed during the 1998-1999 academic year, and called BEARCAT II. Its design has inherited many features of its predecessor, BEARCAT I, such as vision guidance, sonar detection and digital control. In addition, BEARCAT II achieved many innovative motion control features as rotating sonar, zero turning radius (ZTR), current control loop, and multi-level controller design (conventional control and fuzzy logic control). This paper will focus on the motion control design, development and programming for the vehicle steering control and rotating sonar systems. The systems have been constructed and tested at the 1999 International Ground Robotics Competition with the Bearcat II running an obstacle course for 153.5 feet and finishing fourth in the competition. The significance of this work is in the increased understanding of robot control and the potential application of autonomous guided vehicle technology for industry, defense and medicine. Keywords: Motion control, motion behavior, compensation, mobile robots.

关键词： Control systems Motion controllers Amplifiers computer programming Mobile robots Robotics Safety Vehicle control Control systems design Fuzzy logic

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Interacting with personal robots and smart environments

Interacting with personal robots and smart environments

引用

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

作者： Röning, J Kangas, K Univ Oulu Dept EE Comp Engn Lab FIN-90401 Oulu Finland

ISBN: (纸本)0819434302

In the future, interaction between humans and personal robots will become increasingly important as robots will, more and more, operate as assistants in our everyday life. Because of this, there is a need for a convenient, flexible, and general-purpose technique that we can use to interact with robots. Moreover, the same technique should also be usable when we interact with embedded systems in smart environments. In this paper, we will describe a technique that allows us to use a single simple handheld control device to interact not only with personal robots, but also with ubiquitous embedded systems. When a new system, whether a mobile robot or a VCR, is encountered, the control device downloads a mobile code from the system and executes it. The mobile code then uses the services provided by the control device to create a virtual user interface that we can use to interact with the particular system. Our technique is flexible, simple, adaptive, and open. The technique draws much of its flexibility and simplicity from the mobile code. Adaptivity comes from the fact that the control device only needs minimal knowledge about each particular system. In addition, the technique does not place any restrictions on the type of mobile code that can be used. We will describe the architecture of the CUES system that utilizes our technique. We will also describe the architecture of the SMAF system, our test bed mobile code execution environment used in CUES. In addition, we will present a virtual user interface for a mobile robot that we can use to control the robot and to monitor its status information. The interface also operates as a terminal that we can use to access remote information in the Internet.

关键词： mobile code ubiquitous computing human-computer interaction embedded systems smart environments mobile robots

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Derivative structures - a step toward knowledge and vision engines

Derivative structures - a step toward knowledge and vision e...

引用

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

作者： Kuvychko, I Consultant (United States)

ISBN: (纸本)0819434302

This article shows how graph and diagrammatic structures could evolve into the more abstract ones that carry knowledge about the originals in form of relations and hierarchies. They can play a role of context, or "measurement device", giving the ability to analyze. Such derivative structures can drive processes in distributed networks, like firing a spatio-temporal pattern, creating another structure, etc., therefore, performing top-bottom algorithms. In the mid-80 PDP group came closely to the problem of knowledge representation by distributed graphs called "schemata". Their models were based on the neural networks. I argue that the actual level of problems that neural network can solve is lower than required for knowledge representation. The "hardware unit" of intelligence could rather be a "neural assembly'' that combines both discrete and continuous features, and is able to perform both diagrammatic and graphs operations, being the basis of intelligence. The representation of such "neural assembly" as a fuzzy logic unit with active kernel and less active fuzzy boundaries is proposed. Such units can make logical operations spatially and temporarily, acting on a diagrammatic manner. Connections between the set of such activated units make spatio-temporal pattern really looking like a set of nodes connected via links on more abstract level. The article shows that image understanding is the area where derivative structures play important role, making images and scenes self-describing without any word description, and truly invariant to any transformations. That opens way to the new technologies in computer vision and image databases.

关键词： image understanding generic knowledge representation derivative structures knowledge & vision engines

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Humans, animals, robots: Handling volumic data flows

Humans, animals, robots: Handling volumic data flows

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

作者： Petrov, V FHU Lab Tech Opt & Laser Technol Ulm Germany

ISBN: (纸本)0819434302

Human visual system is properly suited for reliable and adequate volumic perception of natural environment. Volumic data flows coming from the outer physical space are easily acquired, transferred and processed by eye-brain system in real time. This relates also to the animals which use different complicated mechanisms of optical volumic data acquisition and can navigate safely at high speeds. Un the contrary machine vision systems utilizing currently the stereoscopic effect in attempt to achieve volumic data presentation are very slow, bulky and in a way inelegantly devised. The stereoscopy itself seems can hardly organize the adequate, real time volumic robot vision. Novel general principles of volumic vision were formulated recently by this author. They can be applied also to machines and used in the future rapidly navigating mobile robots. Volumic approach to vision seems much more logical for handling of volumic data flows. Along the lines of this approach and unified concept of volumic imaging it is quite natural to assume fine stratification in depth both for biological volumic data sensors and the necessity of fine stratification in depth for artificial ones. Volumic data sensors in robotics seem must be organized as finely stratified in depth structures. Finely stratified in depth volumic data sensor operating in real time might incorporate volumic gratings and use a special software to interpret the arriving volumic data flow. While the task is very difficult, success would permit to organize volumic robot vision in a different war and to create principally novel type of robotic system, ie, 'one-eyed robots'. Preliminary experiments were performed in this work. Complicated holographic gratings were obtained which might serve as components of a future volumic data sensor. Microphotographs of such gratings taken as horizontally stratified slices are presented.

关键词： human and animal vision volumic vision volumic imaging unified concept of volumic imaging stratified in depth spaces physical and hypothetical volumic spaces and their adequate presentation volumic robot vision robot-bio vision

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Feature detection and map building using ranging sensors

Feature detection and map building using ranging sensors

引用

International conference on intelligent Transportation

作者： M. Kulich P. Stepan L. Preucil The Gerstner Laboratory for Intelligent Decision Making and Control Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

This paper describes two methods for feature extraction. The goal is to interpret the data obtained from sonar measurements of the robot's environment as geometric map primitives. The extracted primitives can be used to update the robot position and the global map. This is the process how the robot can explore an unknown environment. The first algorithm gathers sonar measurements into sensor-based map and then using computer-vision techniques and morphological operations extracts geometric description of detected obstacles. The second method is started whenever the border tracking algorithm has been activated. This method uses raw sonar data as the input while obstacle border is robustly detected by the border tracking process. The algorithms have been verified with an experimental mobile robot at the Czech Technical University.

关键词： computer vision Robot sensing systems Sonar measurements Mobile robots Sonar detection Sensor fusion intelligent sensors Data mining Robustness Laboratories

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

Proceedings of the 1998 Conference on Intelligent Robots and...

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

The proceedings contains 53 papers from the SPIE conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision. Topics discussed include: planetary rovers for long-range Mars science and sample return;pose estimation;geometric and orthogonal moments;Shen-Castan and Canny-Deriche filters;Bayesian neural network learning;robot guidance;face recognition;wireless video monitoring and robot control;image processing for intelligent robotics;robot path planning, guidance and control;color computer vision;3D visualization for intelligent robotics;active robotic vision;and image segmentation in computer vision.

关键词： Robotics

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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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Planning of collision free paths for holonic Blastman robots

Planning of collision free paths for holonic Blastman robots

引用

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

作者： Rintala, M Heikkila, T Blastman Robot Ltd FIN-90101 Oulu Finland

ISBN: (纸本)081942983X

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out succesfully.

关键词： robots Space robots Telescopes Robotic systems Space telescopes Algorithm development Manufacturing computer programming Free space Robotics

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intelligent robot trends for 1998

Intelligent robot trends for 1998

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

作者： Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

关键词： Control systems Robotics Robot vision Mechatronics Manufacturing Sensors Visualization intelligent sensors Kinematics Safety

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Fast face localization for mobile robots: signature analysis and color processing

Fast face localization for mobile robots: signature analysis...

引用

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

作者： Grana, M Gonzalez, AI Raducanu, B Echave, I UPV EHU Dept CCIA San Sebastian 20080 Spain

ISBN: (纸本)081942983X

The purpose of our works is to provide fast and reliable face localization techniques in real time an in real-life scenes. Person localization is included in this problem. The end application sought is the ability of mobile robots to navigate in human populated environments, and to start visual interaction with them. Known methods are computationally intensive, far from real time implementation at near future processing power of off-the-shelf processors. Our technique is based in motion segmentation, signature analysis and color processing. Signature analysis provides fast hints of the person and face localization. Color processing is used to confirm the face hypothesis, and it is based on our works on adaptive color quantization of image sequences. The technique can be implemented in real time and combined with other approaches to enhance the recognition results.

关键词： color processing face localization person localization

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