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Scheimpflug Camera Calibration using Lens Distortion Model

1st International Conference on computer vision and Image Processing (CVIP)

作者： Fasogbon, Peter Duvieubourg, Luc Macaire, Ludovic Univ Lille CNRS UMR 9189 Lab CRISTALCite Sci Bat P2 F-59655 Villeneuve Dascq France

ISBN: (纸本)9789811021046;9789811021039

Scheimpflug principle requires that the image sensor, lens, and object planes intersect at a single line known as "Scheimpflug line." This principle has been employed in several applications to increase the depth of field needed for accurate dimensional measures. In order to provide a metric 3D reconstruction, we need to perform an accurate camera calibration. However, pin-hole model assumptions used by classical camera calibration techniques are not valid anymore for Scheimpflug setup. In this paper, we present a new intrinsic calibration technique using bundle adjustment technique. We elaborate Scheimpflug formation model, and show how we can deal with introduced Scheimpflug distortions, without the need to estimate their angles. The proposed method is based on the use of optical lens distortion models. An experimental comparison of the proposed approach with Scheimpflug model has been made on real industrial data sets under the presence of large distortions. We have shown a slight improvement brought by the proposed method.

关键词： Camera calibration Optical distortions Bundle adjustment Scheimpflug

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25th International Conference on robotics in Alpe-Adria-Danube Region, RAAD 2016

25th International Conference on Robotics in Alpe-Adria-Danu...

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25th International Conference on robotics in Alpe-Adria-Danube Region, RAAD 2016

ISBN: (纸本)9783319490571

The proceedings contain 70 papers. The special focus in this conference is on intelligent Robot Motion Control, Robot vision Sensory Processing, Novel Design of Robot Manipulators, Grippers, Robot applications in Manufacturing, Services, Autonomous Systems, Humanoid, Walking Robots, Evolution, Education, Legal and Social Issues of robotics. The topics include: Kinematic control of redundant robots in changing task space;virtual compliance control of a kinematically redundant serial manipulator with 9 DoF;minimal energy Cartesian impedance control of robot with bidirectional antagonistic drives;design and shape optimization of novel load cell;3-axis contact force fingertip sensor based on hall effect sensor;computer simulation of bounded error algorithm for iterative learning control;dynamical modeling and swing-up control of a self-balancing cube;about the accuracy of fast moving robotic devices based on compliant mechanisms;design, modelling and prototyping of a mechanical hand for prosthetic purposes;robot programming with flexible geometric relations;calibration of a robotized bending system;weed segmentation from grayscale tobacco seedling images;path planning for formation control of autonomous vehicles;vision-guided autonomous forklift;gaze-based human-smarthome-interaction by augmented reality controls;toward an active protection for robot arms;action unit based facial expression recognition using deep learning;mechanical design of a prosthetic human arm and its dynamic simulation;prospects of robotics development for restorative medicine;influence of an assistive hip orthosis on gait;model-based development of robotic systems and services in construction robotics and at the crossroads of architecture and robotics.

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Hardware-in-the-loop evaluation of an LPV sliding mode fixed control allocation scheme on the MuPAL-α research aircraft 1

Hardware-in-the-loop evaluation of an LPV sliding mode fixed...

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1st Annual IEEE Conference on Control Technology and applications

作者： Chen, L. Alwi, H. Edwards, C. Sato, M. Univ Exeter Coll Engn Math & Phys Sci Exeter EX4 4QF Devon England Japan Aerosp Explorat Agcy Mitaka Tokyo 1810015 Japan

ISBN: (纸本)9781509021826

This paper develops a sliding mode fault tolerant control scheme based on an LPV system representation of the plant. The scheme involves a control allocation component, which is capable of fully utilizing the available actuators in the face of actuator faults. In this paper, information about the actuator faults is assumed not to be available and therefore a fixed control allocation structure is utilised in the event of faults. The proposed scheme is validated using the Japanese Aerospace Exploration Agency's Multi-Purpose Aviation Laboratory (MuPAL-alpha) research aircraft. This paper describes initial hardware-in-the-loop (HIL) tests which serve as a precursor to upcoming real flight tests. The validation results show good lateral-directional state tracking performance in the fault free case with no visible performance degradation in the presence of (aileron) faults. Successful HIL tests demonstrate the potential of the proposed scheme which will be flight tested later this year.

关键词： an LPV MuPAL-α plant degradation of performance RESEARCH AIRCRAFT HARDWARE IN THE LOOP plants faults Sliding mode Scheme computer hardware high intensity lighting actuators

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IEEE International Conference on Multisensor Fusion and Integration for intelligent Systems

IEEE International Conference on Multisensor Fusion and Inte...

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13th IEEE International Conference on Multisensor Fusion and Integration for intelligent Systems, MFI 2017

ISBN: (纸本)9781509060641

The proceedings contain 108 papers. The topics discussed include: intelligent grasping of various moving objects based upon visual servoing;a patient-to-CT registration method based on spherical unwrapping and H-K curvature descriptors for surgical navigation system;online reliability assessment and reliability-aware fusion for ego-lane detection using influence diagram and Bayes filter;multirotor UAV state prediction through multi-microphone side-channel fusion;global point-to-hyperplane ICP: local and global pose estimation by fusing color and depth;on weak points of the ellipsoidal intersection fusion;facility activity inference using networks of radiation detectors based on SPRT;entropy-based abnormal activity detection fusing RGB-D and domotic sensors;discretization of SO(3) using recursive tesseract subdivision;a deep neural network approach to fusing vision and heteroscedastic motion estimates for low-SWaP robotic applications;relevance and redundancy as selection techniques for human-autonomy sensor fusion;underwater terrain navigation using standard sea charts and magnetic field maps;on state estimation and fusion with elliptical constraints;a general framework for data fusion and outlier removal in distributed sensor networks;and wide bandwidth nonlinear 2-DOF energy harvester: modeling and parameters selection.

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Estimation of local and global superpixel covariance for salient object detection in low contrast images 2017

Estimation of local and global superpixel covariance for sal...

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9th International Conference on Machine Learning and Computing, ICMLC 2017

作者： Mu, Nan Xu, Xin Zhang, Xiaolong School of Computer Science and Technology Wuhan University of Science and Technology Wuhan Hubei430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial Systems Wuhan University of Science and Technology Wuhan Hubei430065 China

ISBN: (纸本)9781450348171

Salient object detection has become a hot topic in computer vision as it can substantially facilitate a wide range of applications. Conventional salient object detection models primarily rely on low-level image features, which may face great difficulties in low lighting scenarios. This paper proposes to estimate the saliency of low contrast images via covariance features. The input image is firstly decomposed into superpixel regions to estimate their covariances. Then, the local and global image saliency can be calculated using the covariance features respectively. Finally, a graph-based diffusion process is performed to refine the saliency maps. Extensive experiments have been conducted to evaluate the performance of the proposed model against eleven state-of-the-art models on five benchmark datasets and a nighttime image dataset. © 2017 ACM.

关键词： Superpixels

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Combining Depth and Intensity Images to Produce Enhanced Object Detection for Use in a Robotic Colony 1

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18th Annual Conference on Towards Autonomous robotics (TAROS)

作者： Balding, Steven Davis, Darryl N. Univ Hull Fac Engn & Comp Sci Kingston Upon Hull N Humberside England

ISBN: (数字)9783319641072

ISBN: (纸本)9783319641072;9783319641065

Robotic colonies that can communicate with each other and interact with their ambient environments can be utilized for a wide range of research and industrial applications. However amongst the problems that these colonies face is that of the isolating objects within an environment. Robotic colonies that can isolate objects within the environment can not only map that environment in detail, but interact with that ambient space. Many object recognition techniques exist, however these are often complex and computationally expensive, leading to overly complex implementations. In this paper a simple model is proposed to isolate objects, these can then be recognize and tagged. The model will be using 2D and 3D perspectives of the perceptual data to produce a probability map of the outline of an object, therefore addressing the defects that exist with 2D and 3D image techniques. Some of the defects that will be addressed are;low level illumination and objects at similar depths. These issues may not be completely solved, however, the model provided will provide results confident enough for use in a robotic colony.

关键词： Anchoring Robotic vision Sobel Depth map Robotic colony

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Recovering the Manhattan Frame from A Single RGB-D Image by using Orientation Relevance 29

Recovering the Manhattan Frame from A Single RGB-D Image by ...

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第29届中国控制与决策会议

作者： Zhiqiu Wu Liang Wang College of Automation Faculty of Information TechnologyBeijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System

ISBN: (纸本)9781509046584

Most man-made indoor and urban scenes are composed of a set of orthogonal and parallel *** robotics and computer vision,these scenes typically represented by the Manhattan-World *** accurate estimation of the Manhattan Frame,which consists of three orthogonal directions being used to represent the Manhattan-World,plays an important role in many applications,such as SLAM,scene understanding and 3 D *** this paper,a new method for accurately recovering the Manhattan frame from a single RGB-D image by using the orientation relevance is *** first extracts planes from the input single RGB-D *** three orthogonal dominant planes are determined by introducing the concept of orientation ***,the Manhattan Frame can be easily recovered from the obtained three orthogonal dominant *** with open dataset validate the proposed *** overall performance of the proposed method,which takes both accuracy and speed into account,is superior to that of the state-of-the-art *** is also applied on the application of scene annotation to confirm its applicability.

关键词： RGB-D data Indoor Scene Understanding Manhattan Frame Estimation

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Making Sense of Indoor Spaces using Semantic Web Mining and Situated Robot Perception 14th

Making Sense of Indoor Spaces Using Semantic Web Mining and ...

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14th International Semantic Web Conference (ESWC)

作者： Young, Jay Basile, Valerio Suchi, Markus Kunze, Lars Hawes, Nick Vincze, Markus Caputo, Barbara Univ Birmingham Birmingham W Midlands England Univ Cote dAzur Inria I3S CNRS Sophia Antipolis France Tech Univ Wien Vienna Austria Univ Oxford Oxford Robot Inst Dept Engn Sci Oxford England Univ Roma Sapienza Rome Italy

ISBN: (纸本)9783319704074;9783319704067

intelligent Autonomous Robots deployed in human environments must have understanding of the wide range of possible semantic identities associated with the spaces they inhabit - kitchens, living rooms, bathrooms, offices, garages, etc. We believe robots should learn this information through their own exploration and situated perception in order to uncover and exploit structure in their environments - structure that may not be apparent to human engineers, or that may emerge over time during a deployment. In this work, we combine semantic web-mining and situated robot perception to develop a system capable of assigning semantic categories to regions of space. This is accomplished by looking at web-mined relationships between room categories and objects identified by a Convolutional Neural Network trained on 1000 categories. Evaluated on real-world data, we show that our system exhibits several conceptual and technical advantages over similar systems, and uncovers semantic structure in the environment overlooked by ground-truth annotators.

关键词： robotics Artificial intelligence Semantic web-mining Deep vision Service robots Machine learning Space classification Semantic mapping Imagenet Convolutional Neural Networks

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Learning the elasticity of a series-elastic actuator for accurate torque control 30th

Learning the elasticity of a series-elastic actuator for acc...

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30th International Conference on industrial, Engineering, and Other applications of Applied intelligent Systems, IEA/AIE 2017

作者： Yu, Bingbin de Gea Fernández, José Kassahun, Yohannes Bargsten, Vinzenz DFKI Robotics Innovation Center Bremen28359 Germany

ISBN: (纸本)9783319600413

Series elastic actuators (SEAs) have been frequently used in torque control mode by using the elastic element as torque measuring device. In order to precisely control the torque, an ideal torque source is critical for higher level control strategies. The elastic elements are traditionally metal springs which are normally considered as linear elements in the control scheme. However, many elastic elements are not perfectly linear, especially for an elastic element built out of multiple springs or using special materials and thus their nonlinearities are very noticeable. This paper presents two data-driven methods for learning the spring model of a series-elastic actuator: (1) a Dynamic Gaussian Mixture Model (DGMM) is used to capture the relationship between actuator torque, velocity, spring deflection and its history. Once the DGMM is trained, the spring deflection can be estimated by using the conditional probability function which later is used for torque control. For comparison, (2) a deep-learning approach is also evaluated which uses the same variables as training data for learning the spring model. Results show that the data-driven methods improve the accuracy of the torque control as compared to traditional linear models. © Springer International Publishing AG 2017.

关键词： Torque control

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Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor intelligent robotics

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SENSORS 2017年第6期17卷 1249-1249页

作者： Herrero, Hector Luis Outon, Jose Puerto, Mildred Salle, Damien Lopez de Ipina, Karmele Tecnalia Res & Innovat Ind & Transport Div San Sebastian 20009 Spain Univ Basque Country Euskal Herriko Unibertsitatea Dept Syst Engn & Automat EleKin Res Grp San Sebastian 20009 Spain

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.

关键词： intelligent robotics flexibility reusability multisensor state machine software architecture computer vision

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