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 cen...
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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.
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 ...
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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.
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 ...
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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, (PFA), while maintaining high detection rates (PD). Test results on the TRIM-2 database are provided.
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 algorith...
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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.
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. Conceptual...
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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.
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 t...
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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.
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 reve...
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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.
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 ...
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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.
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 uncerta...
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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.
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 rela...
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