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检索条件"任意字段=Intelligent Robots and Computer Vision VII 1988"

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Rule-based for a string code pattern recognition processor

Rule-based for a string code pattern recognition processor

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intelligent robots and computer vision vii 1988

作者： Casasent, David Chien, Sung-Il Carnegie Mellon University Center for Excellence in Optical Data Processing Department of Electrical and Computer Engineering PittsburghPA15213 United States

A 3-D distortion-invariant multi-class object identification problem is addressed. Our new, fast and robust string-code generation technique (using optical and digital methods) makes the rule-based system quite practical and attractive. Emphasis is given to our rule-based system and to initial data results. Excellent multi-class recognition and reasonable object distortions can be accommodated in this system. We achieved 80-90% correct recognition (Pc) for 10 object classes and +30 ° 3-D distortions and full 360 ° in-plane distortions. © 1989 SPIE. All rights reserved.

关键词： Pattern recognition

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Perceptual models for computer vision

Perceptual models for computer vision

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intelligent robots and computer vision vii 1988

作者： Ligomenides, Panos A. Cybernetics Research Laboratory Electrical Engineering Department University of Maryland College ParkMD20742 United States

Human perception of resemblance in spatio-temporal patterns y(x;X) is modeled interactively by procedural elastic templates, called "formal description schema - fdsk" models. The identification, representation and quantification of uncertainty-ambiguity in human holistic perception are problems to be resolved by the man-machine interactive modeling of the human faculties of discernment of generic percepts and perceptual organizations, and of assessment of degrees of conformity to these characteristic elastic constraints of a reference k-norm. Underconstrained and often indeterminate visual sensory patterns are, in turn, recognized in real-time by the procedural fdsk-models, which, progressively and accumulatively, assess conformity of sensory patterns to reference k-norms. In this paper we discuss the nature of the formal tolerance-models of conformity, we review our work on the interactive fdsk-modeling of human perception of resemblance for ID patterns y(x;X), and we examine fuzzy-theoretic aspects of the probabilistic, possibilistic or belief measures of uncertainty in assessing and in predicting conformity to the elastic constraints of a k-norm, in the presence of incomplete or erroneous sensory data. © 1989 SPIE. All rights reserved.

关键词： computer vision

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Reliable communication protocol between intelligent robots 7

Reliable communication protocol between intelligent robots

引用

intelligent robots and computer vision vii 1988

作者： Zhang, N. Liu, K.H. Edwards, W.L. Posner, E.C. Pacific Bell 2600 Camino Ramon 3S450 San RamonCA94583 United States Caltech 116-81 PasadenaCA91125 United States

The use of a payload pointer within the synchronous transmission frame can alleviate the need for large high speed slip buffers at multiplexers and high order cross-connects. The payload pointer protocol is introduced first. Then the performance of the protocol is analyzed. Analysis of the MTBPF (Mean Time Between Pointer Failure) for the payload pointer demonstrates that a rather elegant symbolic formula can be approximated. More specifically, by adding a one bit error correcting capability to the New Data Flag enable, we found the MTBPF to be almost 1.4 times better. With the addition of a one bit error correcting capability in the pointer value, we can achieve at least 0.14 × (ber)-1 times improvement, if bit error rate is 6. A two bit error correcting capability in the pointer value results only in at most 8.5 times improvement over the one bit case. Based on the performance analysis and cost-effectiveness considerations, the payload pointer protocol with dual one bit error correction is very attractive. Hence it is suitable as a communication protocol between intelligent robots. © 1989 SPIE. All rights reserved.

关键词： intelligent robots

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Exploration and search with intentional visual actions

Exploration and search with intentional visual actions

引用

intelligent robots and computer vision vii 1988

作者： Strahman, Deborah Dept. of Computer and Information Science University of Massachusetts AmherstMA01003 United States

Active vision is a term used to denote the control of the camera's geometric parameters to aid in the satisfaction of perceptual goals. Here it is combined with intentional visual actions generated by task oriented decisions. The focus of this paper is the use of intentional active vision to perform exploration and spatial search. These are common components of many perceptual tasks in which the viewer is dealing with a space and objects within that space that are at most partially known or modeled. Examples of such tasks are determining the location of the product code of unknown part on an assembly line, finding an exit sign in an known building, or a lost tool in a cluttered workspace. As proposed here, exploration is a reactive process which has strategies, composed of visual actions and predictions, for dealing with the various spatial situations encountered. To recognize the current situation temporary models of the locally visible surfaces are built. These enable the spatial reasoning for construction of the strategies. Though these surfaces are disposed of when no longer local, a coarse spatial memory avoids duplication of effort and aids in deciding when the task is complete. The visual actions are intended motions for which viewing direction and possibly other camera parameters are controlled. © 1989 SPIE. All rights reserved.

关键词： Cameras

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Practical demonstration of a learning control system for a five-axis industrial robot

Practical demonstration of a learning control system for a f...

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intelligent robots and computer vision vii 1988

作者： Hemes, Robert P. Miller, U. Thomas Department of Electrical and Computer Engineering Kinsgbury Hall University of New Hampshire DurhamNH03824 United States

The overall complexity of many robotic control problems, and the ideal of a truly general robotic control system, have led to much discussion of the use of neural networks in robot control. This paper discusses a learning control technique which uses an extension of the CMAC network developed by Albus, and presents the results of real time control experiments which involved learning the dynamics of a 5 axis industrial robot (General Electric P-5) during high speed movements. During each control cycle, a training scheme was used to adjust the weights in the network in order to form an approximate dynamic model of the robot in appropriate regions of the control space. Simultaneously, the network was used during each control cycle to predict the actuator drives required to follow a desired trajectory, and these drives were used as feedforward terms in parallel to a fixed gain linear feedback controller. Trajectory tracking errors were found to converge to low values within a few training trials, and to be relatively insensitive to the choice of feedback control system gains. © 1989 SPIE. All rights reserved.

关键词： Industrial robots

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Space and time requirements for two image data structures

Space and time requirements for two image data structures

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intelligent robots and computer vision vii 1988

作者： Baraghimian, G.A. Klinger, A. Hughes Aircraft Company 8433 Fallbrook Ave. Canoga ParkCA91304 United States University of California at Los Angeles Computer Science Department Los AngelesCA90024-1596 United States

We present research on tree structures using hexagonally and quarternarily organized imagery. The purpose is to determine and compare benefits from applying these pyramidal representations. Our motive is to develop new approaches to image computing. We compare space and time requirements of two hierarchical data structures. The basic image representation is by the septree and the quadtree data pyramids. A septree is a seven-descendant tree;values stored are found by decomposing a roughly-hexagonal planar region into its central hexagon and its six uniformly-adjacent neighbors. A quadtree is a four-descendant tree;its values are similarly obtained using the more common rectangular decomposition of a planar image. Today's technology (i.e., CCD arrays;VLSI chips) enables both the hexagonal and quartering tesselations to co-exist;likewise, lower-cost hardware trends encourage innovative computer systems for image analysis. Both image data structures presented here for static two-dimensional scenes can be extended to three-dimensional analogies. These can be used in computer vision models and in time-sequences of images for robots. © 1989 SPIE. All rights reserved.

关键词： Forestry

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Real-time neuromorphic algorithms for inverse kinematics of redundant manipulators 7

Real-time neuromorphic algorithms for inverse kinematics of ...

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intelligent robots and computer vision vii 1988

作者： Barhen, Jacob Gulati, Sandeep Zak, Michail Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States Dept. of Computer Science Louisiana State University Baton RougeLA70803 United States

We present an efficient neuromorphic formulation to accurately solve the inverse kinematics problem for redundant manipulators. Our approach involves a dynamical learning procedure based on a novel formalism in neural network theory: the concept of "terminal" attrac-tors. Topographically mapped terminal at tractors are used to define a neural network whose synaptic elements can rapidly encapture the inverse kinematics transformations, and, subsequently generalize to compute joint-space coordinates required to achieve arbitrary end-effector configurations. Unlike prior neuromorphic implementations, this technique can also systematically exploit redundancy to optimize kinematic criteria, e.g. torque optimization. Simulations on 3-DOF and 7-DOF redundant manipulators, are used to validate our theoretical framework and illustrate its computational efficacy. © 1989 SPIE. All rights reserved.

关键词： Redundant manipulators

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

引用

intelligent robots and computer vision vii 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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Locating known objects in 3-D from a single perspective view

Locating known objects in 3-D from a single perspective view

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intelligent robots and computer vision vii 1988

作者： Wolfe, William J. Weber-Sklair, Cheryl Mathis, Donald Magee, Michael University of Colorado at Denver Electrical Engineering and Computer Science Department DenverCO80204 United States Martin Marietta Astronautics Group Computer Vision Unit Mail Stop 4443 P.O. Box 179 DenverCO80201 United States University of Wyoming Computer Science Department LaramieWY82071 United States

Determining the 3-D location of an object from image-derived features, such as edges and vertices, has been a central problem for the computer vision industry since its inception. This paper reports on the use of four coplanar points (in particular, a rectangle) and three points for determining 3-D object position from a single perspective view. The four-point algorithm of Hung and Yeh is compared to the four-point algorithm of Haralick. Both methods uniquely solve the inverse perspective problem, but in different ways. The use of three points has proven to be more difficult, mainly because of multiple solutions to the inverse perspective problem as pointed out by Fischler and Bolles. This paper also presents computer simulation results that demonstrate the spatial constraints associated with these multiple solutions. These results provide the basis for discarding spurious solutions when some prior knowledge of configuration is available. Finally, the use of vertex-pairs introduced by Thompson and Mundy is analyzed and compared to the other method. © 1989 SPIE. All rights reserved.

关键词： Inverse problems

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Perceptual grouping of curved lines 7

Perceptual grouping of curved lines

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intelligent robots and computer vision vii 1988

作者： Dolan, John Weiss, Richard Dept. of Computer and Information Science University of Massachusetts AmherstMA01003 United States

Image curves often correspond to the bounding contours of objects as they appear in the image. As such, they provide important structural information which may be exploited in matching and recognition tasks. However, these curves often do not appear as coherent events in the image;they must, therefore, be (re) constructed prior to their effective use by higher-level processes. A system (currently being built) to accomplish such reconstruction of image curves is described herein. It exploits principles of perceptual organization such as proximity and good continuation to identify co-curving or curvilinear structure. Components of each such structure are replaced by a single curve, thus making their coherence explicit. The system is iterative, operating over a range of perceptual scales - fine to coarse - and yielding a hierarchy of alternative descriptions. Results are presented for the first iteration, showing the performance of the system at the finest perceptual scale and indicating the reasonableness of the paradigm for subsequent iterations. © 1989 SPIE. All rights reserved.

关键词： computer vision

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