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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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SENSOR FUSION OF 2-D AND 3-D DATA FOR THE PROCESSING OF IMAGES OF DENTAL IMPRINTS 12

SENSOR FUSION OF 2-D AND 3-D DATA FOR THE PROCESSING OF IMAG...

引用

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

作者： METHOT, F MOKHTARI, M LAURENDEAU, D POUSSART, D UNIV LAVAL DEPT ELECT ENGNCOMP VIS & DIGITAL SYST LABQUEBEC CITY G1K 7P4QUEBECCANADA

ISBN: (纸本)0819413208

This paper presents a computer vision system for the acquisition and processing of 3-D images of wax dental imprints. The ultimate goal of the system is to measure a set of 10 orthodontic parameters that will be fed to an expert system for automatic diagnosis of occlusion problems. An approach for the acquisition of range images of both sides of the imprint is presented. Range is obtained from a shape-from-absorption technique applied to a pair of grey-level images obtained at two different wavelengths. The accuracy of the range values is improved using sensor fusion between the initial range image and a reflectance image from the pair of grey-level images. The improved range image is segmented in order to find the interstices between teeth and, following further processing, the type of each tooth on the profile. Once each tooth has been identified, its accurate location on the imprint is found using a region- growing approach and its shape is reconstructed with third degree polynomial functions. The reconstructed shape will be later used by the system to find specific features that are needed to estimate the orthodontic parameters.

关键词： Image fusion Teeth Reflectivity 3D image processing Image processing 3D acquisition computer vision technology Machine vision Optical spheres Sensor fusion

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A FAST, CHEAP, AND EASY SYSTEM FOR OUTSIDE vision ON MARS 12

A FAST, CHEAP, AND EASY SYSTEM FOR OUTSIDE VISION ON MARS

引用

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

作者： GAVIN, AS YAMAMOTO, M MIT DEPT ELECT ENGN & COMP SCIARTIFICIAL INTELLIGENCE LABCAMBRIDGEMA 02139

ISBN: (纸本)0819413208

In the design and construction of mobile robots vision has always been one of the most potentially useful sensory systems. In practice however, it has also become the most difficult to successfully implement. At the MIT Mobile Robotics (Mobot) Lab we have designed a small, light, cheap, and low power Mobot vision System that can be used to guide a mobile robot in a constrained environment. The target environment is the surface of Mars, although we believe the system should be applicable to other conditions as well. It is our belief that the constraints of the Maitian environment will allow the implementation of a system that provides vision based guidance to a small mobile rover. The purpose of this vision system is to process realtime visual input and provide as output information about the relative location of safe and unsafe areas for the robot to go. It might additionally provide some tracking of a small number of interesting feature, for example the lander. The system is designed t.o be self contained. It has its own camera and on board processing unit. It draws a small amount of power and exchanges a very small amount of information with the host robot. The project has two parts, first the construction of a hardware platform, and second the implementation of a successful vision algorithm. For the first part of the project, which is nearly complete, we have built a small self contained vision system. It employs a cheap but fast general purpose microcontroller (a 68332) connected to a Charge Coupled Device (CCD). The CCD provides the CPU with a continuous series of medium resolution gray-scale images (64 by 48 pixels with 256 gray levels at 10-15 frames a second). In order to accommodate our goals of low power, light weight, and small size we are bypassing the traditional NTSC video and using a purely digital solution. As the frames are captured any desired algorithm can then be implemented on the microcontroller to extract the desired information from the image

关键词： Charge coupled devices

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PREDICTIVE VISUAL TRACKING 12

PREDICTIVE VISUAL TRACKING

引用

12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： WAVERING, AJ LUMIA, R National Institute of Standards and Technology (United States)

ISBN: (纸本)0819413216

Due to delays in image acquisition and processing, prediction is a critical factor for successful visual tracking of moving objects (both for humans and for vision machines). This paper explores some alternative techniques for predicting object motion for the purpose of tracking with an active camera system. In particular, one of our goals is to develop a system that will track an object undergoing `random' motion quite well, but that will track much better (at higher speeds with less lag) if the object settles into a periodic motion of some kind. Rather than identify parameters for specific signal models to accomplish this, we propose to use a finite set of previous joint states for the signal model. The advantages and problems associated with this approach are discussed. Results of experiments using different prediction algorithms with TRICLOPS, a high-performance active vision system, are also presented.

关键词： Electronic filtering Robot vision Optical filters Optical tracking Cameras Filtering (signal processing) Machine vision Motion models Image processing Visualization

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INFORMED EDGE LINKING USING A DIRECTIONAL POTENTIAL FUNCTION 12

INFORMED EDGE LINKING USING A DIRECTIONAL POTENTIAL FUNCTION

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

作者： RIORDAN, V ZHU, QM UNIV NEBRASKA DIGITAL IMAGING & COMP VIS LABOMAHANE 68182

ISBN: (纸本)0819413208

Low level edge detection operators usually do not generate contiguous edges, leaving objects in images with discontinuous borders. This, coupled with inherent signal noises, makes it difficult to identify objects in images. Here we describe a new algorithm that connects disjoint edge pixels to form continual object boundaries. We model the edge images as potential fields deployed with energies at the edge pixel positions all over the images. Pixels at the edge disjoint positions are charged by the combining forces of these edge pixels in proportion to the relative distances and directions of these pixels. An intrinsic part of the process is the identification of terminal edge pixels (TEP), accompanying with a classification of edge pixels in terms of the pixel connection patterns, to provide critical information for possible connectivity of edge segments. The algorithm applies a potential evaluation function to measure the likelihood of edge linking in certain directions for given TEPs. To reduce the computational overhead and improve the efficiency of the algorithm, an informed search method is used to locate significant edge pixels that present the most strong linking forces to a given TEP. The potential value for the TEP is calculated with respect to the edge directions dominated by the linking forces. When the potential value exceeds a given threshold in a direction, an extension is made at the TEP position in that direction. The process iterates until desired results are attained, using a global edge pattern evaluation scheme.

关键词： Image processing Robot vision Edge detection computer vision technology Machine vision Image analysis Image classification Image segmentation Interference (communication) Object recognition

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intelligent robot control using omnidirectional vision

Intelligent robot control using omnidirectional vision

引用

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

作者： Ghayalod, Manoj Hall, Ernest L. Univ. of Cincinnati Cincinnati OH USA

ISBN: (纸本)0819410268

Omnidirectional vision using a wide angle lens with a 2 pi steradian field has been studied for image visualization and navigation for mobile robots. The advantages that can be obtained with the large field of view include instantaneous viewing which permits dynamic control and improved visualization. The significant geometric distortion can be corrected using image processing for either image viewing or target recognition. The purpose of this paper is to present results from the use of omnidirectional vision as an integral component in an intelligent robot control system. Using the vision system for position updates provides a method for accurate position control. Simulation and experimental results are presented of a two level control system which uses encoders for dead reckoning position control and periodic vision position updates. The system appears promising for mobile robot navigation and can lead to a robust control system.

关键词： intelligent robots

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Collision avoidance tests using the Charlie_1 Trike vehicle

Collision avoidance tests using the Charlie_1 Trike vehicle

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

作者： Allen, Charles R. West, R. Univ. of Newcastle upon Tyne Newcastle United Kingdom

ISBN: (纸本)0819410268

Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attributes of a prototype mobile vehicle using synchronized dc motor drives, and a number of methods for the on-line planning of obstacle avoidance. Measurements of the efficiency of the paths described using each collision avoidance method are quantified using a number of metrics discussed in the paper.

关键词： Mobile robots

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Lab. setup for sensory-based robot programming

Lab. setup for sensory-based robot programming

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

作者： Kukareko, Evgeni Roning, Juha J. Univ. of Oulu Oulu Finland

ISBN: (纸本)0819410268

This paper presents results of developing basic control approaches, structures and software tools for the sensory based robot setup programming. The control task decomposition is described. The paper focuses on the robot controller structure and its implementation. The solution of the inverse and direct kinematic problems in simulation tasks for a GMFanuc S-10 robot are suggested. Preliminary results of simulation experiments are presented.

关键词： Programmable robots

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Review of automated visual inspection 1983 to 1993 Part II: Approaches to intelligent systems 12

Review of automated visual inspection 1983 to 1993 Part II: ...

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intelligent robots and computer vision XII: algorithms and techniques 1993

作者： Bayro-Corrochano, Eduardo Intelligent Systems Research Laboratory School of Electrical Electronics and Systems Engineering University of Wales College of Cardiff P.O. Box 904 CardiffCF13YH United Kingdom

This review represents an extensive and systematicsurvey ofthe tatc ofthe art ofautomated viua1 inspection. This review is divided in two parts: Pazi I involves convethonal methods and Part LI consids approachez to intelligent;ysteins. This complementazy pnpez considers advanced computer vision algorithms for inspection, expezt systems fuzzy 1ogic neural networks and divexse indusfrial applications using intelligent approaches. Finally, son problems and frenb in current rese&th al-c indicated. and possible areas for future investigation &e suggeste4 on the basis of the surveyed literature. © 1993 SPIE.

关键词： Inspection

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Using viewpoint consistency in active stereo vision

Using viewpoint consistency in active stereo vision

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

作者： Clark, James J. Weisman, Michael J. Yuille, Alan L. Harvard Univ. Cambridge MA USA

ISBN: (纸本)0819410268

Surface models embedded in Bayesian or regularization style stereo vision algorithms bias the solution in a nonviewpoint invariant way. This lack of invariance reveals itself when the surface is computed from different viewpoints. Using the consistency between views one can try to adapt the prior surface models in a way that renders them more viewpoint invariant. The goal is to be able to adapt the stereo algorithm over time so that the same surface shape is obtained from different views. The method described in this paper uses the surface consistency measure to choose between the solutions provided by a set of simple prior surface models.

关键词： computer vision

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Electronic front-end processor for active vision

Electronic front-end processor for active vision

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

作者： Burt, Peter J. Anandan, P. Hanna, Keith David Sarnoff Research Cent. Princeton NJ USA

ISBN: (纸本)0819410268

We suggest that a `vision front end' processor, or VFE, will be a key element of practical vision systems that perform complex tasks in real time, such as autonomous vehicle driving. The VFE is a specialized image processing device located between the cameras and the main vision computer. Its functions are to isolate critical image data for subsequent attention-based analysis, and to compute attributes of these data that are required by the system in order to respond quickly to objects or events of interest in the scene. We propose a generic architecture for the VFE, and describe a prototype system that has been built in custom hardware. We show that a compact device can serve multiple vision modalities, including pattern, motion, and stereo vision.

关键词： computer vision

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