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

共 670 条记录，以下是81-90 订阅

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Hand-eye coordination with an active camera head

Hand-eye coordination with an active camera head

引用

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

作者： Bishay, M Peters, A Wilkes, DM Kawamura, K Rockwell Semiconductor Systems (United States) Vanderbilt Univ. (United States)

ISBN: (纸本)0819426407

Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision - active central of camera position and camera parameters - facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called Fixation Point Servoing (FPS), uses target fixation to eliminate the need for Jacobian computation. Additionally, FPS requires only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.

关键词： robotics visual servoing active vision fixation pan-tilt heads

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Design and Realization of an intelligent Ground Vehicle with Modular Payloads

Design and Realization of an Intelligent Ground Vehicle with...

引用

Conference on intelligent robots and computer vision XXix - algorithms and techniques

作者： Akmanalp, Mehmet A. Doherty, Ryan M. Gorges, Jeffrey Kalauskas, Peter Peterson, Ellen Polido, Felipe Nestinger, Stephen S. Padir, Taskin Worcester Polytech Inst Robot Engn Program Worcester MA 01609 USA

ISBN: (纸本)9780819489487

In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual intelligent Ground Vehicle Competitions back-to-back. This paper details the two-year design and development cycle for WPI's intelligent ground vehicle, Prometheus. The on-board intelligence algorithms include lane detection, obstacle avoidance, path planning, world representation and waypoint navigation. The authors present experimental results and discuss practical implementations of the intelligence algorithms used on the robot.

关键词： Autonomous ground vehicle modular payloads path planning

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NEURAL-NET SELECTION METHODS FOR GABOR TRANSFORM DETECTION FILTERS 12

NEURAL-NET SELECTION METHODS FOR GABOR TRANSFORM DETECTION F...

引用

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

作者： CASASENT, D SMOKELIN, JS CARNEGIE MELLON UNIV CTR EXCELLENCE OPT DATA PROCPITTSBURGHPA 15213

ISBN: (纸本)0819413208

New Gabor transform (GT) filters to detect candidate object locations independent of the object class, object distortions, and for low contrast objects in clutter are described. A new neural network (NN) technique is described to automate selection of GT parameters and to combine multiple Gabor functions (GFs) into once composite macro GF detection filter. Fusion of real and imaginary GT filter outputs is used to reduce false alarms, (P_FA), while maintaining high detection rates (P_D). Test results on the TRIM-2 database are provided.

关键词： Image filtering Neural networks Target detection computer vision technology Machine vision Robot vision robots Edge detection Evolutionary algorithms Databases

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intelligent vision process for robot manipulation

Intelligent vision process for robot manipulation

引用

intelligent robots and computer vision ix: algorithms and techniques

作者： Chen, Alexander Y.K. Chen, Eugene Y.S. Scientific Research Associates Inc Glastonbury United States

A new approach is introduced in this paper to deal with the problems of real-time machine vision and pattern recognition for robotic manipulations. This approach emphasizes three directions: (1) the developed algorithm has to be compact enough for embedded intelligent control implementation;(2) the computational scheme should be highly efficient for on-line robot reasoning and manipulations;and (3) the resulting system has to be sufficiently flexible to accommodate various working environments and to cope with some system shortcomings. The vertical integration of related vision hardware, image analysis software and analytical techniques (e.g. fuzzy logic and neural networks) together with the novel algorithms for robot eye-brain-hand coordination constitutes a unique robot vision system. The potential of more extensive hardware implementation is discussed and a wider spectrum of applications of the proposed robot vision system is envisioned.

关键词： Robotics

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Hierarchical Loop Detection for Mobile Outdoor robots

Hierarchical Loop Detection for Mobile Outdoor Robots

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Conference on intelligent robots and computer vision XXix - algorithms and techniques

作者： Lang, Dagmar Winkens, Christian Haeselich, Marcel Paulus, Dietrich Univ Koblenz Landau AGAS Robot Act Vis Grp D-56070 Koblenz Germany

ISBN: (纸本)9780819489487

Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptually, loop closing is divided into detection and optimization. Recent approaches depend on a single sensor to recognize previously visited places in the loop detection stage. In this study, we combine data of multiple sensors such as GPS, vision, and laser range data to enhance detection results in repetitively changing environments that are not sufficiently explained by a single sensor. We present a fast and robust hierarchical loop detection algorithm for outdoor robots to achieve a reliable environment representation even if one or more sensors fail.

关键词： ring closing Detection algorithms Loops Robot Sensors Outdoors simultaneous localization and mapping Hierarchical Range of a function

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RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PLANE TRANSFORM

RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PL...

引用

CONF ON intelligent robots AND computer vision 10 : algorithms AND techniques

作者： TANIGUCHI, H FURUSAWA, H SEKI, A IKEBATA, S Mitsubishi Electric Corp. (Japan)

ISBN: (纸本)0819407445

Traffic flow measurement systems, which recognize vehicles and measure traffic parameters by image processing, are researched. We propose a new recognition method for moving vehicles using directional-temporal plane transform (DTT) for the system. DTT is a transformation from spatiotemporal data to 2-D data onto a directional-temporal plane. The transformation is done by projecting feature data of vehicles to a directional axis which is roughly parallel to the moving loci, and by placing the projected data stream side by side in temporal order. We also show an effective extraction algorithm of vehicles from the 2-D data obtained by DTT. Experimental results using real images demonstrate the effectiveness of this method.

关键词： Image processing Detection and tracking algorithms Robot vision robots Machine vision computer vision technology Cameras Edge detection Magnetic sensors Roads

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Establishing joint goals through observation

Establishing joint goals through observation

引用

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

作者： VanWie, M Univ. of Rochester (United States)

ISBN: (纸本)0819426407

When interacting with intelligent agents, it is vital to understand something of their intentions. Agents' itentions provide context in spoken dialog, help to define their future plans (and thus actions), and reveal information about their beliefs. We propose a method by which agents' intentions are inferred by observing their actions. Explicit communication among agents is not permitted. The joint intentions framework(1) specifies the behaviors and obligations of agents that share in a cooperative intention. Our work focuses on the creation of such joint intentions through observation and plan recognition. The plan recognition structure uses Bayes Nets to reason from observations to actions, and Hidden Markov Models to reason from sequences of actions to intent.

关键词： intelligent agents

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The 15^th Annual intelligent Ground Vehicle Competition:: intelligent ground robots created by intelligent students

The 15<SUP>th</SUP> Annual Intelligent Ground Vehicle Compet...

引用

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

作者： Theisen, Bernard L. USA Tank Automotive Res Ctr Dev & Engn Warren MI 48397 USA

ISBN: (纸本)9780819469243

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 15 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles engineering education IGVC

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Modelling the positioning accuracy of sensor-based robots

Modelling the positioning accuracy of sensor-based robots

引用

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

作者： Jarviluoma, M Heikkila, T VTT Automation Machine Automation FIN-90571 Oulu P.O. Box 13023 Finland

ISBN: (纸本)0819426407

This paper describes a method for expressing and manipulating position and orientation uncertainty in sensor-based robotics. The goal is to formulate a computational framework where the effects of accumulating uncertainties, originating from internal and external sensors, are shown as uncertainties in tool frame positions and orientations. The described method is based on using covariance matrices of position and orientation parameters. The used orientation parameters are xyz Euler angles. There are three different forms of spatial uncertainty and uncertainty manipulation involves transformations between these forms. These transformations are done by using linearisation around nominal relations. Paper presents the basic formulas for these transformations and also three calculation examples.

关键词： spatial uncertainty intelligent robotics sensor fusion

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ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN computer vision 12

ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN COMPUTER...

引用

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

作者： FARAG, AA WANG, B UNIV LOUISVILLE DEPT ENGN MATH & COMP SCILOUISVILLEKY 40292

ISBN: (纸本)0819413208

In this paper, a number of spatial/spatial-frequency image representations are reviewed. Wavelets have recently generated much interest, both in applied areas as well as in more theoretical ones. Wavelet tranlorm relative to some basic wavelets, provides aflexible time-frequency window which automatically narrows when observing high frequency phenomena and widens when studying lowfrequency environments. As a result, it is suitablefor visual information representation. Applications in computer vision such as image compression and image enhancement are examined. © 1993 SPIE.

关键词： Image representation

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