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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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intelligent robot control using an adaptive critic with a task control center and dynamic database

Intelligent robot control using an adaptive critic with a ta...

引用

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

作者： Hall, E. L. Ghaffari, M. Liao, X. Ali, S. M. Alhaj Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Zarqa Jordan

ISBN: (纸本)0819464821

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

关键词： intelligent robots adaptive control creative control reinforcement learning adaptive critic

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Biomimetic sensory abstraction using hierarchical quilted self-organizing maps

Biomimetic sensory abstraction using hierarchical quilted se...

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

作者： Miller, Jeffrey W. Lommel, Peter H. Draper Lab 555 Technol Sq Cambridge MA 02139 USA

ISBN: (纸本)0819464821

We present an approach for abstracting invariant classifications of spatiotemporal patterns presented in a high-dimensionality input stream, and apply an early proof-of-concept to shift and scale invariant shape recognition. A model called Hierarchical Quilted Self-Organizing Map (HQSOM) is developed, using recurrent self-organizing maps (RSOM) arranged in a pyramidal hierarchy, attempting to mimic the parallel/hierarchical pattern of isocortical processing in the brain. The results of experiments are presented in which the algorithm learns to classify multiple shapes, invariant to shift and scale transformations, in a very small (7 x 7 pixel) field of view.

关键词： Self-Organizing Maps (SOM) unsupervised learning pattern recognition cognitive learning image interpretation robot vision computational neuroscience biomimetic

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The 17TH Annual intelligent Ground Vehicle Competition: intelligent robots Built by intelligent Students

The 17TH Annual Intelligent Ground Vehicle Competition: Inte...

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27th conference on intelligent robots and computer vision: algorithms and techniques

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

ISBN: (纸本)9780819479327

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 ground vehicle. Teams from around the world focus on developing a suite of dual-use technologies to equip their system of the future with intelligent driving capabilities. Over the past 17 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 over 70 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 engineering education IGVC

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A REAL-TIME vision SYSTEM FOR A MOBILE ROBOT USING CHEAP HARDWARE 12

A REAL-TIME VISION SYSTEM FOR A MOBILE ROBOT USING CHEAP HAR...

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12th conference on intelligent robots and computer vision: algorithms and techniques

作者： HORSWILL, I MIT AI LABCAMBRIDGEMA 02139

ISBN: (纸本)0819413208

In this paper I will describe work in progress on a low cost vision-based robot designed to give primitive tours. The system is very simple, robust and efficient, and runs on a hardware platform which could be duplicated for less than $10K. Much of the system's efficiency is due to its implicit knowledge about the structure and appearance of its environment. This knowledge is not represented explicitly but rather is encoded in the structure of the system. I will give an overview of the system, discuss the properties of its environment, and show how they can be used to simplify the design of the system. © 1993 SPIE.

关键词： Robot vision

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Fast Correspondence of Unrectified Stereo Images using Genetic Algorithm and Spline Representation

Fast Correspondence of Unrectified Stereo Images using Genet...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Tippetts, Beau Lee, Dah Jye Archibald, James Brigham Young Univ Provo UT 84602 USA

ISBN: (纸本)9780819479327

Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. This paper describes work to modify the genetic spline algorithm to use a version of the genetic algorithm with small populations and few generations, previously referred to as "Tiny GAs", to allow algorithm implementations to achieve real-time performance. The algorithm was also targeted at unrectified stereo image pairs to reduce preprocessing making it more suitable for real-time performance. To ensure disparity map quality is preserved, the two dimensional nature of images is maintained to leverage persistent information instead of representing the images as 1-D signals as suggested in the orignal genetic spline algorithm. Experimental results are given of this modified algorithm using unrectified images.

关键词： Genetic algorithms Detection and tracking algorithms Visual process modeling Genetics Computing systems Stereo vision systems Cameras Visualization computer vision technology Machine vision

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GENERAL VISUAL ROBOT CONTROLLER NETWORKS VIA ARTIFICIAL EVOLUTION 12

GENERAL VISUAL ROBOT CONTROLLER NETWORKS VIA ARTIFICIAL EVOL...

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12th conference on intelligent robots and computer vision: algorithms and techniques

作者： CLIFF, D HARVEY, I HUSBANDS, P UNIV SUSSEX SCH COGNIT & COMP SCIBRIGHTON BN1 9QHE SUSSEXENGLAND

ISBN: (纸本)0819413208

We discuss recent results from our ongoing research concerning the application of artificial evolution techniques (i.e., an extended form of genetic algorithm) to the problem of developing `neural' network controllers for visually guided robots. The robot is a small autonomous vehicle with extremely low-resolution vision, employing visual sensors which could readily be constructed from discrete analog components. In addition to visual sensing, the robot is equipped with a small number of mechanical tactile sensors. Activity from the sensors is fed to a recurrent dynamical artificial `neural' network, which acts as the robot controller, providing signals to motors governing the robot's motion. Prior to presentation of new results, this paper summarizes our rationale and past work, which has demonstrated that visually guided control networks can arise without any explicit specification that visual processing should be employed: the evolutionary process opportunistically makes use of visual information if it is available.

关键词： Visualization Sensors Chlorine Robot vision Genetic algorithms Device simulation Neural networks computer vision technology Machine vision Network architectures

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VERTICES AND CORNERS - NORMALIZED AVERAGE DETECTION 12

VERTICES AND CORNERS - NORMALIZED AVERAGE DETECTION

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12th conference on intelligent robots and computer vision: algorithms and techniques

作者： MALIK, R REN, H STEVENS INST TECHNOL DEPT ELECT ENGN & COMP SCIHOBOKENNJ 07030

ISBN: (纸本)0819413208

Most of the information regarding the shape of polyhedral objects is preserved in the edges and the vertices of these objects. Gray level images of scenes containing such objects are often processed to extract edge and vertex information to produce equivalent line sketches. An accurate line sketch of a scene serves as an effective input to high level vision systems concerned with scene understanding or object recognition. The performance of these systems is therefore greatly dependent on the accuracy of the line sketch. The work reported in this paper addresses the issues associated with generating accurate line sketches from gray level images. The methods described here have been implemented and tested with real and synthetic images and are compared to other vertex or corner detection techniques. The performance of the vertex detector is assessed using simulation runs on images with varied signal-to-noise ratios. The computational performance of this algorithm is evaluated and assessed by operating directly on the gray-scale image.

关键词： computer vision technology Machine vision Robot vision robots Image segmentation Edge detection Corner detection Signal to noise ratio Image processing Feature extraction

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The 14^TH Annual intelligent Ground Vehicle Competition:: intelligent teams creating intelligent ground robots

The 14<SUP>TH</SUP> Annual Intelligent Ground Vehicle Compet...

引用

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

作者： Theisen, Bernard L. Nguyen, Dmitri US Army Tank Automot Res Dev & Engn Ctr 6501 E Eleven Mile Rd Warren MI 48397 USA

ISBN: (纸本)0819464821

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. 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 14 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 over 50 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 three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

关键词： intelligent roboss autonomous systems ground vehicles engineering education IGVC

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A new algorithm for fruit shape classification based on level set

A new algorithm for fruit shape classification based on leve...

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

作者： Gui, Jiangsheng Ying, Yibin Rao, Xiuqin Zhejiang Univ Dept Biosyst Engn & Food Sci 268 Kaixuan St Hangzhou 310029 Peoples R China

ISBN: (纸本)0819464821

In this research, a new algorithm for fruit shape classification was proposed. The level set representations according to signed distance transforms were used, which are a simple, robust, rich and efficient way to represent shapes. Based on these representations, the rigid transform was adopted to align shapes within the same class, and the simplest possible criterion, the sum of square differences was considered. After align procedure, the average shape representations can easily be derived and shape classification was performed by the nearest neighbor method. Promising results were obtained on experiments showing the efficiency and accurate of our algorithm.

关键词： machine vision shape classification fruit sorting level set

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Visual terrain mapping for traversable path planning of mobile robots

Visual terrain mapping for traversable path planning of mobi...

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

作者： Shirkhodaie, A Amrani, R Tunstel, E Tennessee State Univ Dept Mech & Mfg Engn Intelligent Tact Mobil Robot Lab Nashville TN 37209 USA

ISBN: (纸本)081945561X

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

关键词： terrain traversability assessment modeling visual terrain mapping image texture analysis

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