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Conference on intelligent robots and computer vision XXI

作者： Shirkhodaie, A Tennessee State Univ Intelligent Tact Mobil Res Lab Dept Mech & Mfg Engn Nashville TN 37209 USA

ISBN: (纸本)081945155X

There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

关键词： world perception modeling cooperative robots robot pose estimation

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A PROJECT ORIENTED APPROACH TO THE TEACHING OF MACHINE PERCEPTION

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IEEE TRANSACTIONS ON EDUCATION 1993年第4期36卷 380-383页

作者： MYLER, HR Department of Electrical and Computer Engineering University of Central Florida Orlando FL USA

Advanced courses in the areas of Machine Perception and Machine Intelligence are not easy to prepare or conduct due to the dynamic research nature of the field. In engineering, our interest is in the construction of intelligent machines in the form of robotic devices or through computer simulation models. Studies in this area are further complicated by the broad range of disciplines that must be accessed in order to provide adequate coverage. This discussion focuses on a set of computer simulation projects that have been assigned at various times during offerings of an advanced graduate level course entitled Machine Perception. The format of the projects are presented with discussion of student results. The projects were novel in that they require advanced techniques of machine vision and are open-ended in that there are no specific solutions. The problems represent the mainstream of machine perception research without requiring more effort than is possible in a one semester course. Students responded with algorithms developed in a variety of computer languages and on various machines.

关键词： Education Humans Machine vision Machine intelligence Signal detection Information processing Layout intelligent robots computer simulation Image analysis

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Selector of diamond crystal according to its shape

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 567-569页

作者： Martyshevcky, Yuri V. Tomsk State Acad. of Control System and Radio Electronics Tomsk Russia

ISBN: (纸本)0819423068;9780819423061

An automatic raw material selector into 3-4 groups depending on the crystal shape is developed. As signs of selection there are used dimensions of the crystal image, position of the image center in the bearing plan as well as dimensions and proportion of two interperpendicular chords crossing the image center. The device sorts out into 3-4 groups 8 crystals per second.

关键词： computer vision

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Best viewpoints for active vision classification and pose estimation

Best viewpoints for active vision classification and pose es...

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Sipe, MA Casasent, D Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426407

We advance new active computer vision algorithms that classify objects and estimate their pose from intensity images. Our algorithms automatically re-position the sensor if the class or pose of an object is ambiguous in a given image and incorporate data from multiple object views in determining the final object classification A feature space trajectory (PST) in a global eigenfeature space is used to represent 3-D distorted views of an object. Assuming that an observed feature vector consists of Gaussian noise added to a point on the FST, we derive a probability density function (PDF) for the observation conditioned on the class and pose of the object. Bayesian estimation and hypothesis testing theory are then used to derive approximations to the maximum a posteriori probability pose estimate and the minimum probability of error classifier. New confidence measures for the class and pose estimates: derived using Bayes theory, determine when additional observations are required as well as where the sensor should be positioned to provide the most useful information.

关键词： active vision Bayesian estimation object recognition object representation pose estimation

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Image segmentation using Gaussian curvature

Image segmentation using Gaussian curvature

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Conference on intelligent robots and computer vision XIV - algorithms, techniques, Active vision, and Materials Handling

作者： Shrikhande, N Ramaswamy, S CENT MICHIGAN UNIV DEPT COMP SCIMT PLEASANTMI 48859

ISBN: (纸本)0819419524

One of the central problems of computer vision is segmentation of images into salient features such as edges and surfaces. Different kinds of similarity criteria can be used to group related pixels together. One such criterion is the curvature of surfaces in an image of a multiobject scene that contains several objects with different shapes. In practice, however, curvature is difficult to calculate because small amount of noise can cause large amounts of errors in calculations of first and second derivatives. In this paper, we use a discrete approximation of Gaussian curvature that is efficient to compute. The approximation is used to segment the image into individual surfaces. Both synthetic and real images have been tested. Results appear quite encouraging.

关键词： Image segmentation Visual process modeling Data modeling Software development computer vision technology Image processing algorithms and systems Machine vision Object recognition Reliability Visualization

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Virtual force field based obstacle avoidance and agent based intelligent mobile robot

Virtual force field based obstacle avoidance and agent based...

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Conference on intelligent robots and computer vision XXV - algorithms, techniques, and Active vision

作者： Sarkar, Saurabh Reynolds, Scott Hall, Ernest Univ Cincinnati Dept Mech Engn 2600 Clifton Ave Cincinnati OH 45221 USA Univ Cincinnati Dept Comp Sci Cincinnati OH 45221 USA

ISBN: (纸本)9780819469243

This paper presents a modified virtual force based obstacle avoidance approach suited for laser range finder. The modified method takes advantage of the polar coordinate based data sent by the laser sensor by mapping the environment in a polar coordinate system. The method also utilizes a Gaussian function based certainty values to detect obstacle. The method successfully navigates through complex obstacles and reaches target GPS waypoints.

关键词： virtual force field laser ranger finder agents

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Training or inheritance in human vision? A critical test for understanding and engineering of intelligent optical systems

Training or inheritance in human vision? A critical test for...

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Lauinger, N CORRSYS GmbH (Germany)

ISBN: (纸本)0819426407

Inheritance or training in human vision? Training allows individual adaptation to environmental conditions, while genetics determine optimized constant i.e. long-term abilities. The biological engineering of the human eye needs both inheritance and training to realize its high performances. Particularly during postnatal training of an eye, adaptive freedom is necessary and available. To test the part of training it would become necessary to experimentally determine the in vivo refractive index differences between cellular nuclei and cytoplasm in retinal nuclear layers before and after birth to see if diffractive optical tuning of trichromatism in a retinal 3D-grating is synchronized with the differentiation of 3 photopigments in photopic vision or if the specialization in photochemistry depends on crystal-optical preprocessing.

关键词： human vision retina visual pigments colour vision genes in vision training in vision

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Comparison of supervised learning techniques applied to color segmentation of fruit images

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 370-381页

作者： Power, P.Wayne Clist, Roger S. Industrial Research Ltd. Auckland 1 NZ

ISBN: (纸本)0819423068;9780819423061

This paper describes the use of color segmentation to assist the detection of blemishes and other defects on fruit. It discusses the advantages and disadvantages of different color spaces including RGB and HSI and different supervised learning techniques including maximum likelihood, nearest neighbor and neural networks. It then compares the performance of various combinations of these on the same training and test set. A selection of images segmented by the best combination is presented and conclusions made.

关键词： Color image processing

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Diffractive-optical correlators: chances to make optical image pre-processing as intelligent as human vision.

Diffractive-optical correlators: chances to make optical ima...

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

作者： Lauinger, N Corrsys Datron Sensorsysteme GmbH (Germany)

ISBN: (纸本)081945561X

The human eye is a good model for the engineering of optical correlators. Three prominent intelligent functionalities in human vision could in the near future become realized by a new diffractive-optical hardware design of optical imaging sensors: Illuminant-adaptive RGB-based Color vision, Monocular 3D vision based on RGB data processing, Patchwise fourier-optical Object-Classification and Identification. The hardware design of the human eye (Fig. 1) has specific diffractive-optical elements (DOE's) in aperture and in image space and seems to execute the three jobs at - or not far behind - the loci of the images of objects.

关键词： RGB color model Eye Cones 3D image processing Diffraction gratings 3D vision Modulators Human vision and color perception Near field optics Optical correlators

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LINE GROUPING USING PERCEPTUAL SALIENCY AND STRUCTURE PREDICTION FOR CAR DETECTION IN TRAFFIC SCENES 12

LINE GROUPING USING PERCEPTUAL SALIENCY AND STRUCTURE PREDIC...

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

作者： DENASI, S QUAGLIA, G IST ELETTROTECNICO NAZL GALILEO FERRARIS I-10135 TURINITALY

ISBN: (纸本)0819413208

Autonomous and guide assisted vehicles make a heavy use of computer vision techniques to perceive the environment where they move. In this context, the European PROMETHEUS program is carrying on activities in order to develop autonomous vehicle monitoring that assists people to achieve safer driving. Car detection is one of the topics that are faced by the program. Our contribution proposes the development of this task in two stages: the localization of areas of interest and the formulation of object hypotheses. In particular, the present paper proposes a new approach that builds structural descriptions of objects from edge segmentations by using geometrical organization. This approach has been applied to the detection of cars in traffic scenes. We have analyzed images taken from a moving vehicle in order to formulate obstacle hypotheses: preliminary results confirm the efficiency of the method.

关键词： Image segmentation Roads computer vision technology Machine vision Robot vision robots Image processing Computing systems Visual system Visual process modeling

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