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Correspondenceless stereo vision for planar or distant scene

Correspondenceless stereo vision for planar or distant scene

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Ronald Chung Department of Automation & Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)0780378660

Despite extensive study on it for decades, stereo vision is still regarded by many computer vision researchers as not totally solved. What makes it difficult is the stereo correspondence problem. In 1992 Aloimonos and Herve proposed an algorithm that avoids the need of establishing correspondences across the stereo images. The algorithm however assumes a particular stereo configuration: the parallel-axis stereo geometry. This paper describes how the restriction could be removed and provides, in a closed-form format, an extension of the algorithm for general stereo geometry. Experimental results on real image data are also presented to illustrate the correctness of the derived expression.

关键词： Stereo vision Layout Cameras Equations Geometrical optics Computer vision Information geometry automation Closed-form solution

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Fuzzy synthetic evaluation of economic benefit of enterprise based on neural network

Fuzzy synthetic evaluation of economic benefit of enterprise...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Xuesong Wang Guangzheng Peng Yuhu Cheng Department of Automatic Control Beijing Institute of Technology China China Academy of Science Institute of Automation

ISBN: (纸本)0780378660

A method of fuzzy multilayer synthetic evaluation of economic benefit of enterprise is proposed, which applies artificial neural network to analyze the influence coefficients of evaluation indexes of economic benefit. In this way, many subjective factors involved can be avoided and so the economic benefit of enterprise can be analyzed and evaluated more objectively and justly. The method presented is very simple and easy to implement. A practical example is also given and the results verify the validity of the method.

关键词： Fuzzy neural networks Neural networks Power generation economics Artificial neural networks Appraisal Profitability Multi-layer neural network Fuzzy control Mathematics Laboratories

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Co-emergence process on the humans' cooperation for walk-support

Co-emergence process on the humans' cooperation for walk-sup...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： T. Muto Y. Miyake Department ofComputational Intelligence and Systems Science Tokyo Institute of Technology Japan

We analyzed the co-emergence process on the cooperative walks between two humans. As the results, we found the cyclic process based on the following two control processes. One is the process to realize the footstep's coherence between the cooperative walkers. The other is the process to control the coherence by the mutual relations with the fluctuations of the arms' swing, connected with the attention. Additionally we found that the arms' fluctuations take flexible synchronizations between the cooperative walkers. These results suggest that the synchronization of the cyclic process realize the co-emergence of the cooperative walk flexibly.

关键词： Humans Legged locomotion Senior citizens Fluctuations Rhythm Intelligent systems Process control Man machine systems Prosthetics Poles and towers

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Hardware objects of the circuits for robotics

Hardware objects of the circuits for robotics

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Sekine T. Kanamaru K. Kudoh H. Imanaka Y. Shiga H. Ito Y. Myokan Tokyo University of Agriculture슠and슠Technology Japan

A hardware object is a capsule of circuits loaded into reconfigurable devices. It is dynamically constructed while an application runs. Its driver is temporarily mounted on a real driver for a hardware module. The circuits are suitable to preprocessing and postprocessing of for robot systems. A commercial C++ compiler becomes an integrated design environment only attaching hardware object libraries.

关键词： Hardware Object oriented modeling Application specific integrated circuits Application software Runtime Driver circuits Java Robot sensing systems Parallel robots Image sensors

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Adaptive robotics in the entertainment industry

Adaptive robotics in the entertainment industry

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： H.H. Lund Maersk Mc-Kinney Moller Institute for Production Technology University of Southern Denmark Odense Denmark

In this paper, the author discusses the market for adaptive robots in the entertainment industry, and some of the most promising avenues for the future development of this field. A United Nations report forecast an impressive 800% growth of this industry within 2-3 years. However, there are many issues that has to be considered when entering this field/market. Most notably, robotic toy systems can be developed to become either closed or open systems. Here, the author promotes open systems based on different psychological considerations, and describes a few systems that have been developed to enlighten the possibilities for open systems.

关键词： Service robots Economic forecasting Open systems Production systems Business Companies Robot sensing systems Psychology Toy industry Force sensors

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Life size humanoid robot that reproduces gestures as a communication terminal: appearance considerations

Life size humanoid robot that reproduces gestures as a commu...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Hiraiwa K. Hayashi H. Manabe T. Sugimura Multimedia Laboratories NTT DoCoMo Inc. Japan

We propose an application that uses a humanoid robot as a communications terminal. We describe a life-size robot that suits inter-personal communication. For simplicity, the current version is restricted to a motorized chair. We show that the robot realizes three service modes: chat mode, e-mail mode and autonomous mode. In chat mode, the hand gestures of the humanoid robot reproduce those made by the operator as captured by surface EMG signal recognition. the humanoid robot is seen as a feasible instrument of telecommunication.

关键词： Humanoid robots Avatars Legged locomotion Artificial intelligence Multimedia systems Laboratories Electromyography Instruments Robot sensing systems Large-scale systems

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Development of PC-based 3D dynamic human interactive robot simulator

Development of PC-based 3D dynamic human interactive robot s...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Onishi T. Odashima F. Asano Zhiwei Luo Bio-Mimetic Control Research Center RIKEN Japan

PC-based immersion-type display integrated with a motion capture system as well as a 3D dynamic simulator has been successfully constructed in our laboratory, as a first universal development environment of human interactive robot within Japan. This system makes it possible for us to design and examine the next generation of human interactive robot easily and safely. Experiments of a virtual robot interact with human and perform dynamic motion show the effectiveness of our system.

关键词： Human robot interaction Service robots Computer displays Intelligent robots computational modeling Auditory displays Robot sensing systems Three dimensional displays Production systems Production facilities

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A planar homography estimation method for camera calibration

A planar homography estimation method for camera calibration

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Zhou Chuan Tan Da Long Zhu Feng Dong Zai Li Robotics Laboratory Graduate School of the CAS P.R. China Robotics Laboratory Chinese Academy of Science PR. China

ISBN: (纸本)0780378660

More and more calibration methods are proposed based on planar homography. However, result accuracy of intrinsic parameters depends closely on homography estimation, which may be sensitive to noise. In this paper, a planar homography estimation method is introduced for camera calibration. It exploits both total least-squares method and multi-view constraints in order to increase the computational accuracy of this algorithm. Applying this technique to camera calibration will provide reliability and robustness in the presence of noise. Simulations and experiments with real images validate this method.

关键词： Cameras Calibration Transmission line matrix methods Jacobian matrices Laboratories computational modeling Layout Least squares approximation Least squares methods Robot vision systems

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Adaptive estimation of 3-D motion parameters and optical flow

Adaptive estimation of 3-D motion parameters and optical flo...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Soon-Hyun Park T. Matsuo Graduate School of Engineering Oita University Japan Department of Human Welfare Engineering Oita University Japan

The recovery of the 3-D motion parameters and structure of an object from its 2-D dynamic picture image is one of the most important problems in computer vision. First, we present a robust adaptive update law based on Riccati equation. Moreover, we design adaptive estimators of 3-D motion parameters and its optical flow from image sequences directly without differential operations. Finally, we demonstrate simulation results via Matlab/Simulink.

关键词： Adaptive estimation Adaptive optics Image motion analysis Riccati equations Computer vision Robustness Optical design Motion estimation Image sequences computational modeling

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Distributed cooperation modeling for maintenance using Petri nets and multi-agents systems

Distributed cooperation modeling for maintenance using Petri...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： S.-V. David L. Christophe Z. Noureddine CNRS FRE 2661 Laboratoire D''InFormatique de l''Université de Franche-Comté Besancon France Laboratoire dAutomatique de Besancon CNRS UMR 6596 Besancon France

In this paper, we present our modeling of cooperative remote maintenance systems. This one is based on the use of multi-agents systems and Petri nets, and allows representing and specifying the existing or planning remote maintenance systems. After computerizing this model, we carry out dynamic working simulations of cooperative remote maintenance systems.

关键词： Petri nets Multiagent systems Context modeling Humans Laboratories computational modeling Computer simulation Computer industry Data processing Collaborative work

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