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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71-80 订阅

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Visual homing with a pan-tilt based stereo camera

Visual homing with a pan-tilt based stereo camera

引用

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

作者： Nirmal, Paramesh Lyons, Damian M. Fordham Univ Dept Comp Sci Bronx NY 10458 USA

ISBN: (纸本)9780819494351

Visual homing is a navigation method based on comparing a stored image of the goal location and the current image (current view) to determine how to navigate to the goal location. It is theorized that insects, such as ants and bees, employ visual homing methods to return to their nest [1]. Visual homing has been applied to autonomous robot platforms using two main approaches: holistic and feature-based. Both methods aim at determining distance and direction to the goal location. Navigational algorithms using Scale Invariant Feature Transforms (SIFT) have gained great popularity in the recent years due to the robustness of the feature operator. Churchill and Vardy [2] have developed a visual homing method using scale change information (Homing in Scale Space, HiSS) from SIFT. HiSS uses SIFT feature scale change information to determine distance between the robot and the goal location. Since the scale component is discrete with a small range of values [3], the result is a rough measurement with limited accuracy. We have developed a method that uses stereo data, resulting in better homing performance. Our approach utilizes a pan-tilt based stereo camera, which is used to build composite wide-field images. We use the wide-field images combined with stereo-data obtained from the stereo camera to extend the keypoint vector described in [3] to include a new parameter, depth (z). Using this info, our algorithm determines the distance and orientation from the robot to the goal location. We compare our method with HiSS in a set of indoor trials using a Pioneer 3-AT robot equipped with a BumbleBee2 stereo camera. We evaluate the performance of both methods using a set of performance measures described in this paper.

关键词： visual homing visual navigation stereovision mobile robots

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Designing and Making the Intelligence Assistant Robot and controlling it by the fuzzy procedure

Designing and Making the Intelligence Assistant Robot and co...

引用

10th International conference on Electronics, computer and Computation (ICECCO)

作者： Zabbah, Iman Foolad, Shima Chaharaqran, Bahram Mazlooman, Reza Islamic Azad Univ Torbat E Heydarieh Branch Dept Comp Tehran Iran Semnan Univ Dept Comp Semnan Iran Maraghen Sanati Univ Dept Comp Maragheh Iran Natl Iranian Oil Prod Distribut Co Torbat Heydarieh Branch Torbat Heydarieh Iran

ISBN: (纸本)9781479933433

Mobile robots are those with the capability of moving in an environment. The controller of these robots needs to have the ability to do intelligent behaviours in an uncertain environment. Today fuzzy control of mobile robots in non-structured environments is increasing. Many represented algorithms for mobile robot navigation don't manifest appropriate performance in dynamic environments. This article aims at designing and making an intelligence robot. This robot is able to detect a specified target and track it. Velocity and steering of this robot is controlled by the fuzzy logic. Robot velocity is adjusted according to its distance from the target. This article is expressed the features of this mobile robot including different mechanical and electronic infrastructures, fuzzy navigation and vision controller. Navigation system of this robot makes its fuzzy decisions only based on the machine vision techniques and unlike many robots, it doesn't depend on sensor. It is concluded that robot with fuzzy navigation have 60% time saving than the non-fuzzy. The results obtained indicate its appropriate performance in order to navigate a target-oriented mobile robot in an undetermined and dynamic environment.

关键词： Mobile robot navigation Machine vision Robot fuzzy control Target tracking Intelligence robot

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Designing and making the intelligence assistant robot and controlling it by the fuzzy procedure

Designing and making the intelligence assistant robot and co...

引用

International conference on Electronics, computer and Computation (ICECCO)

作者： Iman Zabbah Shima Foolad Bahram Chaharaqran Reza Mazlooman Department of computer Islamic Azad University Iran Department of computer Semnan University Semnan Iran Department of computer Maragheh Sanati University Maragheh Iran National Iranian Oil Products Distribution Company Iran

关键词： Mobile robots Robot kinematics Robot sensing systems Navigation Wheels DC motors

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Visual and Inertial Multi-Rate Data Fusion for Motion Estimation via Pareto-Optimization

Visual and Inertial Multi-Rate Data Fusion for Motion Estima...

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IEEE/RSJ International conference on intelligent robots and Systems

作者： Giuseppe Loianno Vincenzo Lippiello Carlo Fischione Bruno Siciliano PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II via Claudio 21 80125 Naples Italy ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781467363563

Motion estimation is an open research field in control and robotic applications. Sensor fusion algorithms are generally used to achieve an accurate estimation of the vehicle motion by combining heterogeneous sensors measurements with different statistical characteristics. In this paper, a new method that combines measurements provided by an inertial sensor and a vision system is presented. Compared to classical model-based techniques, the method relies on a Pareto optimization that trades off the statistical properties of the measurements. The proposed technique is evaluated with simulations in terms of computational requirements and estimation accuracy with respect to a classical Kalman filter approach. It is shown that the proposed method gives an improved estimation accuracy at the cost of a slightly increased computational complexity.

关键词： Motion Estimation via Pareto-Optimization control robotic applications motion estimation Pareto optimisation Inertial Visualization Standing Orders Data fusion data integration Kalman filters computer vision complexity classes

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Design and Realization of an intelligent Ground Vehicle with Modular Payloads

Design and Realization of an Intelligent Ground Vehicle with...

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

作者： Akmanalp, Mehmet A. Doherty, Ryan M. Gorges, Jeffrey Kalauskas, Peter Peterson, Ellen Polido, Felipe Nestinger, Stephen S. Padir, Taskin Worcester Polytech Inst Robot Engn Program Worcester MA 01609 USA

ISBN: (纸本)9780819489487

In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual intelligent Ground Vehicle Competitions back-to-back. This paper details the two-year design and development cycle for WPI's intelligent ground vehicle, Prometheus. The on-board intelligence algorithms include lane detection, obstacle avoidance, path planning, world representation and waypoint navigation. The authors present experimental results and discuss practical implementations of the intelligence algorithms used on the robot.

关键词： Autonomous ground vehicle modular payloads path planning

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Hierarchical Loop Detection for Mobile Outdoor robots

Hierarchical Loop Detection for Mobile Outdoor Robots

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

作者： Lang, Dagmar Winkens, Christian Haeselich, Marcel Paulus, Dietrich Univ Koblenz Landau AGAS Robot Act Vis Grp D-56070 Koblenz Germany

ISBN: (纸本)9780819489487

Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptually, loop closing is divided into detection and optimization. Recent approaches depend on a single sensor to recognize previously visited places in the loop detection stage. In this study, we combine data of multiple sensors such as GPS, vision, and laser range data to enhance detection results in repetitively changing environments that are not sufficiently explained by a single sensor. We present a fast and robust hierarchical loop detection algorithm for outdoor robots to achieve a reliable environment representation even if one or more sensors fail.

关键词： ring closing Detection algorithms Loops Robot Sensors Outdoors simultaneous localization and mapping Hierarchical Range of a function

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The 19TH Annual intelligent Ground Vehicle Competition: Student Built Autonomous Ground Vehicles

The 19TH Annual Intelligent Ground Vehicle Competition: Stud...

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

作者： Theisen, Bernard L. USA TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819489487

The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 19 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from almost 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles vehicle control engineering education IGVC

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Optimizing a Mobile Robot Control System using GPU Acceleration

Optimizing a Mobile Robot Control System using GPU Accelerat...

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

作者： Tuck, Nat McGuinness, Michael Martin, Fred Univ Massachusetts Lowell Lowell MA 01854 USA

ISBN: (纸本)9780819489487

This paper describes our attempt to optimize a robot control program for the intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

关键词： robotics stereo vision GPU acceleration

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A modular real-time vision module for humanoid robots

A modular real-time vision module for humanoid robots

引用

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

作者： Trifan, Alina Neves, Antonio J. R. Lau, Nuno Cunha, Bernardo Univ Aveiro IEETA DETI P-3810193 Aveiro Portugal

ISBN: (纸本)9780819489487

Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

关键词： Robotics robotic soccer computer vision object recognition humanoid robots color classification

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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...

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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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