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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261-270 订阅

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Fuzzy logic control for an automated guided vehicle

Fuzzy logic control for an automated guided vehicle

引用

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

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

ISBN: (纸本)081942983X

This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar sensors as well as stored map information can be cased to guide the robot. Sensor fusion can be accomplished between real time sensed information and stored information in a manner similar to a human decision maker. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating to the computer the X,Y coordinates of a lane marker. Testing of these systems yielded positive results by showing that at five miles per hour, the vehicle can follow a line and avoid obstacles. The obstacle detection uses information from Polaroid sonar detection system. The motor control system uses a programmable Galil motion control system. This design, in its modularity, creates a portable autonomous controller that could be used for any mobile vehicle with only minor adaptations.

关键词： fuzzy logic vision guidance mobile robots motion control

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Digital image based tree measurement for forest inventory

Digital image based tree measurement for forest inventory

引用

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

作者： Juujarvi, J Heikkonen, J Brandt, S Lampinen, J Helsinki Univ Technol Lab Computat Engn FIN-02015 HUT Finland

ISBN: (纸本)081942983X

In this paper we propose a digital camera based method for estimating the stem diameters of growing trees for forest inventory purposes. The imaging system consists of a single camera, a laser distance measurement device and a calibration stick placed beside the tree to be measured. To carry out the task camera geometry parameters are first;determined using linear pinhole camera and nonlinear lens distortion models. In addition of the accurate camera calibration, the viewing geometry has to be determined for 3-D measurement purpose with the help of the calibration stick. The estimation of the stem diameters is carried out by combining the stem curve information from the image with a priori stem form model. Experimental results reported with Scots pines indicate that this approach provides feasible solutions for the measurement task.

关键词： 3D machine vision camera calibration image segmentation stem form model forest inventory

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Stereo-based registration of LADAR and color imagery

Stereo-based registration of LADAR and color imagery

引用

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

作者： Elstrom, MD Smith, PW Abidi, MA Univ Tennessee Dept Elect Engn Imaging Robot & Intelligent Syst Lab Knoxville TN 37996 USA

ISBN: (纸本)081942983X

A major problem in the creation of multi-sensory interfaces for tele-robotics is the development of methods for combining various data sources into one coherent world model for examination by the operator. However, if the images acquired from different sensing modalities can be registered with LADAR range images, texture mapping can be employed for sensor integration. Presented in this paper is a novel stereo-based method for registering color and LADAR images acquired from externally uncalibrated sensors fbr use in a visualization system as described above. In our approach, corresponding features are first extracted from LADAR intensity/color image pairs. Since the computation of Euclidean range using stereoscopic techniques depends on knowledge of the relative sensor orientation, a downhill simplex algorithm is iteratively applied to minimize the sum-squared-error between the stereo and LADAR range estimates of the matched points with respect to the system's relative rotation and translation parameters. Once the system's epipolar geometry has been estimated in this manner, the LADAR range data is employed to re-project the color image to the viewpoint of the scanner for use as a texture map.

关键词： color image processing range imaging registration stereo 3D vision : perception processing and modeling

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Self-learning, self-broadening knowledge base for calibration-free robot vision

Self-learning, self-broadening knowledge base for calibratio...

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

作者： Nguyen, MC Graefe, V Univ Bundeswehr Munchen Inst Messtech D-85577 Neubiberg Germany

ISBN: (纸本)081942983X

A new concept of a self-learning, self-broadening knowledge base that may be used as the long-term memory for a completely calibration-free robot vision to manipulate objects is presented. With this concept the robot automatically acquires during its normal operation the necessary knowledge which can be saved afterwards in the knowledge base and allowing the robot to adapt itself to changing conditions. Thus, the robot presents self-learning characteristics. The robot control using the knowledge base is then based on the human way of solving problems, i.e. new, additional facts (in our case control words) are developed from available facts. Such a control enables improving skills of the robot. The concept has been successfully realized and tested in real-word experiments with an uncalibrated vision-guided manipulator involving the grasping of various objects with nearly any shape and in an arbitrary orientation in horizontal plane.

关键词： self-learning robot calibration-free robot control robot vision machine learning object grasping knowledge based systems

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Extraction of shape based properties

Extraction of shape based properties

引用

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

作者： Shirkhande, N Cent Michigan Univ Ctr Comp Vis Dept Comp Sci Mt Pleasant MI 48859 USA

ISBN: (纸本)081942983X

A model of an object is an image consisting of features of an object. The input is a gray scale image from which features are computed. In his doctoral thesis, J. L. Chen [6] used a model based approach to object recognition. His method is based on Rosin's work [15] for extraction of parts. Both model and scene features are contour based properties. The scene features are matched to the model features by indexing. The following features are computed: convexity, compactness, roundedness, skewness, and the first moment invariant tall using Rosin's algorithm). In this paper, we extend the feature description to include internal and external parts of an object. We use the interpretation tree approach for matching the scene to model, where constraints such as distances and angles between parts are used to prune the interpretation tree. We compare the efficiency of the interpretation tree approach with the indexing method on the data that was used in previous experiments by J. L. Chen.

关键词： computer vision image processing object recognition

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Expert system approach to design an automated guided vehicle

Expert system approach to design an automated guided vehicle

引用

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

作者： Kumaraguru, K Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

The purpose of this paper is to describe an expert system to design the base of an automated guided vehicle. The components of the expert system include: A user-friendly graphic user input interface, where the user can enter specifications - like the environment used, application of the robot, etc.;An engine that converts the managerial requirements into technical parameters and designs the robot initially assuming some parameters and confirming its assumptions during the course of the design;when unable to do so, it iterates with different assumptions until they are met;the code also selects various materials to be used from a corresponding database;A database of various materials from their manufacturers/suppliers;The output data is interfaced with a CAD engine, which generates a 3-D solid model of the vehicle;A "Bill of Materials" file is generated as the output and suggestions for how to assemble them are given. The method has been tested by designing a small mobile robot. The software provides an excellent tool to develop a mobile robot based on performance specifications. Modeling helps the user understand the constraints on the design of the robot and the bill of materials - along with the vendor address, helps the user buy the components needed to assemble the robot.

关键词： expert system automated design solid modeling mobile robots

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Quality control in tile production

Quality control in tile production

引用

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

作者： Kalviainen, H Kukkonen, S Hyvarinen, T Parkkinen, J Lappeenranta Univ Technol Dept Informat Technol FIN-53851 Lappeenranta Finland

ISBN: (纸本)081942983X

This work studies visual quality control in ceramics industry. In tile manufacturing, it is important that in each set of tiles, every single tile looks similar. For example, the tiles should have similar color and texture. Our goal is to design a machine vision system that can estimate the sufficient similarity or same appearance to the human eye. Currently, the estimation is usually done by human vision. Differing from other approaches our aim is to use accurate spectral representation of color, and we are comparing spectral features to the RGB color features. A laboratory system for color measurements is built. Experimentations with five classes of brown tiles are presented. We use chromaticity RGB features and several spectral features for classification with the k-NN classifier and with a neural network, called Self-Organizing Map (SOM). Wt: can classify many of the tiles but there are several problems that need further investigations: larger training and test sets are needed, illuminations effects must be studied further, and more suitable spectral features are needed with more sophisticated classifiers. It is also interesting to develop further the neural approach.

关键词： tiles ceramic industry quality control inspection classification color image processing multispectral images machine vision neural network

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Nonlinear features for classification and pose estimation of machined parts from single views

Nonlinear features for classification and pose estimation of...

引用

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

作者： Talukder, A Casasent, D Carnegie Mellon Univ Lab Opt Data Proc Dept Elect & Comp Engn Pittsburgh PA 15213 USA

ISBN: (纸本)081942983X

A new nonlinear feature extraction method is presented for classification and pose estimation of objects from single views. The feature extraction method is called the maximum representation and discrimination feature (MRDF) method. The nonlinear MRDF transformations to use are obtained in closed form, and offer significant advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We consider MRDFs on image data, provide a new a-stage nonlinear MRDF solution, and show it specializes to well-known linear and nonlinear image processing transforms under certain conditions. We show the use of the MRDF in estimating the class and pose of images of rendered solid CAD models of machine parts from single views using a feature-space trajectory (FST) neural network classifier. We show new results with better classification and pose estimation accuracy than are achieved by standard principal component analysis (PCA) and Fukunaga-Koontz (FK) feature extraction methods.

关键词： active vision classification discrimination (nonlinear) feature extraction nonlinear features neural networks pose estimation principal component analysis

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Genetic feature selection for highly-accurate stereo reconstruction of natural surfaces

Genetic feature selection for highly-accurate stereo reconst...

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

作者： Paar, G Sidla, O Polzleitner, W Joanneum Res Graz Austria

ISBN: (纸本)081942983X

One approach to stereo matching is to use different local features to find correspondences. The selection of an optimum feature set is the content of this paper. An operational software tool based on the principle of comparing feature vectors is used for stereo matching. A relatively large set of different local features is sought for optimum combinations of 6-10 of them. This is done by a genetic process that uses an intrinsic quality criterion that evaluates the correctness of each individual match. The convergence of the genetic feature selection process is demonstrated on a real stereo pair of a tunnel surface. Four areas were used for individual optimization. After several hundred generations for each of the areas, it is shown that the identified feature sets result in a considerably better stereo matching result than the currently used features, which were the result of an initial manual choice. The experiments described in this paper use a "super-set" of 145 features for every pixel, which are created by filtering the image with convolution kernels (averaging, Gaussian filters, bandpass, highpass), median filters and Gabor kernels. From these 145 filters, the genetic feature selection process selects an optimal set of operators. Using the selected filters results in a 15% improvement of the matching accuracy and robustness.

关键词： stereo matching 3D reconstruction computer vision feature selection genetic algorithm

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Adaptive fuzzy approach for modeling of operational space for autonomous mobile robots

Adaptive fuzzy approach for modeling of operational space fo...

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

作者： Musilek, Petr Gupta, Madan M. Univ of Saskatchewan Saskatoon Canada

robots operating in an unstructured environment need high level modeling of their operational space in order to plan a path from an initial position to a desired goal. A fuzzy approach to evaluate each unit region on a grid map by a certain value of transition cost is proposed. The method employs fuzzy granulation of information on various terrain features and their combination based on a fuzzy neural network.

关键词： Mobile robots

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