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检索条件"任意字段=Intelligent Robots and Computer Vision IX: Algorithms and Techniques"

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Eclectic theory of intelligent robots

Eclectic theory of intelligent robots

引用

intelligent robots and computer vision XXV: algorithms, techniques, and Active vision

作者： Hall, E.L. Ghaffari, M. Liao, X. Alhaj Ali, S.M. Sarkar, Saurabh Reynolds, Scott Mathur, Kovid Center for Robotics Research University of Cincinnati Cincinnati OH 45221-0072 United States Hashemite Univ. Jordan

ISBN: (纸本)9780819469243

The purpose of this paper is to introduce a concept of eclecticism for the design, development, simulation and implementation of a real time controller for an intelligent, vision guided robots. The use of an eclectic perceptual, creative controller that can select its own tasks and perform autonomous operations is illustrated. This eclectic controller is a new paradigm for robot controllers and is an attempt to simplify the application of intelligent machines in general and robots in particular. The idea is to uses a task control center and dynamic programming approach. However, the information required for an optimal solution may only partially reside in a dynamic database so that some tasks are impossible to accomplish. So a decision must be made about the feasibility of a solution to a task before the task is attempted. Even when tasks are feasible, an iterative learning approach may be required. The learning could go on forever. 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. 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 lies in the fact that it is applicable to both robot arm manipulators and mobile robots 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

关键词： intelligent robots

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Dynamic template size control in digital image correlation based strain measurements

Dynamic template size control in digital image correlation b...

引用

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

作者： Koljonen, Janne Kanniainen, Olli Alander, Jarmo T. Univ Vaasa Dept Elect Engn & Automat FIN-65101 Vaasa Finland

ISBN: (纸本)9780819469243

Image matching is a common procedure in computer vision. Usually the size of the image template is fixed. If the matching is done repeatedly, as e.g. in stereo vision, object tracking, and strain measurements, it is beneficial, in terms of computational cost, to use as small templates as possible. On the other hand larger templates usually give more reliable matches, unless e.g. projective distortions become too great. If the template size is controlled locally dynamically, both computational efficiency and reliability can be achieved simultaneously. Adaptive template size requires though that a larger template can be sampled anytime. This paper introduces a method to adaptively control the template size in a digital image correlation based strain measurement algorithm. The control inputs are measures of confidence of match. Some new measures are proposed in this paper, and the ones found in the literature are reviewed. The measures of confidence are tested and compared with each other as well as with a reference method using templates of fixed size. The comparison is done with respect to computational complexity and accuracy of the algorithm. Due to complex inter-actions of the free parameters of the algorithm, random search is used to find an optimal parameter combination to attain a more reliable comparison. The results show that with some confidence measures the dynamic scheme outperforms the static reference method. However, in order to benefit from the dynamic scheme, optimization of the parameters is needed.

关键词： adaptivity machine vision optimization pattern matching tensile testing

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New experimental diffractive-optical data on E. Land's Retinex mechanism in human color vision: Part II - art. no. 67640H

New experimental diffractive-optical data on E. Land's Retin...

引用

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

作者： Lauinger, N. Corrsys 3D Sensors AG Wetzlar Germany

ISBN: (纸本)9780819469243

A better understanding of the color constancy mechanism in human color vision [7] can be reached through analyses of photometric data of all illuminants and patches (Mondrians or other visible objects) involved in visual experiments. In Part I [3] and in [4, 5 and 6] the integration in the human eye of the geometrical-optical imaging hardware and the diffractive-optical hardware has been described and illustrated (Fig.1). This combined hardware represents the main topic of the NAMIROS research project (nano- and micro- 3D gratings for optical sensors) [8] promoted and coordinated by Corrsys 3D Sensors AG. The hardware relevant to (photopic) human color vision can be described as a diffractive or interference-optical correlator transforming incident light into diffractive-optical RGB data and relating local RGB onto global RGB data in the near-field behind the 'inverted' human retina. The relative differences at local/global RGB interference-optical contrasts are available to photoreceptors (cones and rods) only after this optical pre-processing.

关键词： RGB color model Color vision Colorimetry Eye Halogens Retina Xenon Visualization Optical correlators Sensors

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Dynamic omni-directional vision localization using a beacon tracker based on particle filter

Dynamic omni-directional vision localization using a beacon ...

引用

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

作者： Cao, Zuoliang Liu, Shiyu Tianjin Univ Technol Tianjin 300191 Peoples R China

ISBN: (纸本)9780819469243

Omni-directional vision navigation for AGVs appears definite significant since its advantage of panoramic sight with a single compact visual scene. This unique guidance technique involves target recognition, vision tracking, object positioning, path programming. An algorithm for omni-vision based global localization which utilizes two overhead features as beacon pattern is proposed in this paper. An approach for geometric restoration of omni-vision images has to be considered since an inherent distortion exists. The mapping between image coordinates and physical space parameters of the targets can be obtained by means of the imaging principle on the fisheye lens. The localization of the robot can be achieved by geometric computation. Dynamic localization employs a beacon tracker to follow the landmarks in real time during the arbitrary movement of the vehicle. The coordinate transformation is devised for path programming based on time sequence images analysis. The beacon recognition and tracking are a key procedure for an onmi-vision guided mobile unit. The conventional image processing such as shape decomposition, description, matching and other usually employed technique are not directly applicable in omni-vision. Particle filter (PF) has been shown to be successful for several nonlinear estimation problems. A beacon tracker based on Particle Filter which offers a probabilistic framework for dynamic state estimation in visual tracking has been developed. We independently use two Particle Filters to track double landmarks but a composite algorithm on multiple objects tracking conducts for vehicle localization. We have implemented the tracking and localization system and demonstrated the relevant of the algorithm.

关键词： omni-directional vision dynamic localization beacon tracker particle filter

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Terminal phase visual position estimation for a tail-sitting vertical takeoff and landing UAV via a Kalman filter

Terminal phase visual position estimation for a tail-sitting...

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intelligent robots and computer vision XXV: algorithms, techniques, and Active vision

作者： Tsai, Allen C. Gibbens, Peter W. Stone, R. Hugh School of Aerospace Mechanical and Mechatronic Engineering J07 University of Sydney Camperdown NSW 2006 Australia

ISBN: (纸本)9780819469243

computer vision has been an active field of research for many decades;it has also become widely used for airborne applications in the last decade or two. Much airborne computer vision research has focused on navigation for Unmanned Air Vehicles;this paper presents a method to estimate the full 3D position information of a UAV by integrating visual cues from one single image with data from an Inertial Measurement Unit under the Kalman Filter formulation. Previous work on visual 3D position estimation for UAV landing has been achieved by using 2 or more frames of image data with feature enriched information in the image;however raw vision state estimates are hugely suspect to image noise. This paper uses a rather conventional type of landing pad with visual features extracted for use in the Kalman filter to obtain optimal 3D position estimates. This methodology promises to provide state estimates that are better suited for guidance and control of a UAV. This also promise autonomous landing of UAVs without GPS information to be conducted. The result of this implementation tested with flight images is presented.

关键词： computer vision

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Auditory and visual integration based localization and tracking of humans in daily-life environments

Auditory and visual integration based localization and track...

引用

2007 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Hyun-Don Kim Kazunori Komatani Tetsuya Ogata Hiroshi G. Okuno Speech Media Processing Group Kyoto University Kyoto Japan

The purpose of this research is to develop techniques that enable robots to choose and track a desired person for interaction in daily-life environments. Therefore, localizing multiple moving sounds and human faces is necessary so that robots can locate a desired person. For sound source localization, we used a cross-power spectrum phase analysis (CSP) method and showed that CSP can localize sound sources only using two microphones and does not need impulse response data. An expectation-maximization (EM) algorithm was shown to enable a robot to cope with multiple moving sound sources. For face localization, we developed a method that can reliably detect several faces using the skin color classification obtained by using the EM algorithm. To deal with a change in color state according to illumination condition and various skin colors, the robot can obtain new skin color features of faces detected by OpenCV, an open vision library, for detecting human faces. Finally, we developed a probability based method to integrate auditory and visual information and to produce a reliable tracking path in real time. Furthermore, the developed system chose and tracked people while dealing with various background noises that are considered loud, even in the daily-life environments.

关键词： Humans Face detection Skin Change detection algorithms Microphones Lighting Robot vision systems computer vision Libraries Background noise

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An Adaptive Focal Connectivity Algorithm for Multifocus Fusion

An Adaptive Focal Connectivity Algorithm for Multifocus Fusi...

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： Harishwaran Hariharan Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Multifocus fusion is the process of fusing focal information from a set of input images into one all-in-focus image. Here, a versatile multifocus fusion algorithm is presented for application-independent fusion. A focally connected region is a region or a set of regions in an input image that falls under the depth of field of the imaging system. Such regions are segmented adaptively under the predicate of focal connectivity and fused by partition synthesis. The fused image has information from all focal planes, while maintaining the visual verisimilitude of the scene. In order to validate the fusion performance of our method, we have compared our results with those of tiling and multiscale fusion techniques. In addition to performing a seamless fusion of the focally connected regions, our method out performs the competing methods regarding overall sharpness in all our experiments. Several illustrative examples of multifocus fusion are shown and objective comparisons are provided.

关键词： Layout Image segmentation Focusing Lenses Inspection Microscopy intelligent robots Partitioning algorithms Geometry intelligent systems

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Multiscale Design and Modeling of Nanorobots

Multiscale Design and Modeling of Nanorobots

引用

2007 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Mustapha Hamdi Antoine Ferreira Laboratoire Vision et Robotique ENSI de Bourges Université d''Oran-Es-senia Bourges France

Nanorobotic structure design and modeling require large-scale computer simulation tools and numerical algorithms in order to better understand, control and accelerate development of multiscale nanosystems. Research on modeling and simulation of physical, chemical and biological systems at the nanoscale will include techniques such as quantum mechanics, multi-particle simulation, molecular dynamics simulation, grain and continuum based models. In this paper, we present a novel approach that makes use of multi-scale and multi- physics modeling coupled to virtual reality for nanorobotic prototyping systems. First, a CAD system that integrated principles for multiscale approach in nanorobotics structure design is presented. Then, we focus in the different design levels, more specifically, the optimization of geometry structure carried out by quantum mechanics, molecular dynamics and continuum mechanics methodologies. As illustration of the proposed multiscale modeling concepts, we tested by simulation the dynamics characteristics of a nanorobotic parallel platform with one degree-of-freedom (DOF) composed of proteins-based passive kinematic chains and actuated by a viral protein-based nanoactuator. Multiscale simulations proved the effectiveness and accuracy of the proposed design and modeling approaches.

关键词： Biological system modeling Nanobioscience Computational modeling Nanostructures Quantum mechanics Proteins Algorithm design and analysis Large-scale systems computer simulation Acceleration

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A New Landmark and Sensor Selection Method for Vehicle Localization and Guidance

A New Landmark and Sensor Selection Method for Vehicle Local...

引用

IEEE Symposium on intelligent Vehicle

作者： Cedric Tessier Michel Berducat Roland Chapuis Frederic Chausse CEMA GREF Aubiere France LASMEA - UMR 6602 24 avenue des Landais 63177 Aubière France. e-mail: chapuis@lasmea.univ-bpclermont.fr LASMEA - UMR 6602 24 avenue des Landais 63177 Aubière France

Markov localization is one of the effective techniques for determining the physical locations of an autonomous vehicle whose the perceptions of the environment are limited. To improve the localization, a multi-sensor approach is used. A landmark selection process is usually employed. The aim of this selection strategy is to select the landmark that answers at best to a criterion. In general, the selected landmark is the one that improve the most the vehicle's location. In this paper, we extend the landmark selection problem into a resource selection (i.e. sensor and feature detection algorithm) problem. This selection is also based on a criterion. However, this criterion is defined in function of the application's objectives. Here, the application concerns vehicle's guidance. This last one requires an accurate and reliable estimation. Thus, we propose a novel selection strategy of the landmark, the sensor, and the feature detection algorithm to offer an accurate and reliable localization. We demonstrate the practicality of this approach by guiding an experimental vehicle in real outdoor environment.

关键词： Navigation Remotely operated vehicles Mobile robots Robot sensing systems computer vision Detection algorithms Cameras Sensor systems Entropy intelligent vehicles

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Proceedings of SPIE - intelligent robots and computer vision XXIV: algorithms, techniques, and Active vision

Proceedings of SPIE - Intelligent Robots and Computer Vision...

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intelligent robots and computer vision XXIV: algorithms, techniques, and Active vision

ISBN: (纸本)0819464821

The proceedings contain 35 papers. The topics discussed include: automated synthesis of distortion-invariant filters: autominace;emerging directions in human-robotic space exploration technologies: remote operation of complex systems;a telepresence robot system realized by embedded object concept;pedestrian detection in crowded scene with the histogram of gradients principle;embodying a cognitive model in a mobile robot;visualization of pallets;indoor environment modeling for interactive robot security application;biomimetic sensory abstraction using hierarchical quilted self-organizing maps;feature optimization and creation of a real time pattern matching system;vehicle detection methods for surveillance applications;a parallel unmixing algorithm for hyperspectral images;intelligent robot control using an adaptive critic with a taskcontrol center and dynamic database;and autonomous robot navigation using vision and sensor based algorithm.

关键词： computer vision

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