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

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intelligent automation using object-oriented, rule-based and vision-aided control

Intelligent automation using object-oriented, rule-based and...

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intelligent robots and computer vision vii 1988

作者： Pulaski, Kirt Yen, P.S. Ramirez, C. Barash, S. Wysocki, E. Martin Marietta Manned Space Systems P.O. Box 29304 Mail Stop 3691 New OrleansLA70189 United States Martin Marietta Laboratories 1450 South Rolling Road BaltimoreMD21227 United States

RISS (Robotic intelligent Safety System) is a software tool for custom-building intelligent and safe execution monitoring/control systems for automatic processes. The architecture of RISS is object-oriented, its diagnostic and control knowledge is rule-based. RISS was specifically applied to intelligently control a large gantry robot operating in the vicinity of people and mobile tool fixtures. The application was vision-aided, employing two CCD video cameras to monitor the robot work space and avoid obstacles. © 1989 SPIE. All rights reserved.

关键词： Video cameras

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Discounting illuminants beyond the sensor level

Discounting illuminants beyond the sensor level

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intelligent robots and computer vision vii 1988

作者： Gershon, Ron Jepson, Allan D. Expert Systems Center Allied-Signal Canada Inc. 48 St Clair Ave. West TorontoM4V 3A3 Canada Dept. of Computer Science University of Toronto 10 Kings College Rd. TorontoM5S 1A4 Canada Canadian Institute for Advanced Research Canada

We propose a method, based on finite-dimensional linear models of reflectance and illumination, which allows the transformation of chromatic images into color constant images. This proves to be useful in applications where either there is no information on the illuminant present in the scene, or when such information is confounded by the existence of inter-reflections between objects. This method is aimed at computations taking place beyond the sensory level of vision systems, and may use inputs corrected by sensors. In contrast to previous work, we show that good results can be obtained using a 3-receptor system and some knowledge about the spectral properties of natural materials and illuminants. In the method developed, an estimate of illuminant in the scene is computed, which allows the computation of color constant descriptors of the pixel values in the image. In addition, we show a method of computing the actual reflectances of the materials in the scene out of the computed color descriptors. © 1989 SPIE. All rights reserved.

关键词： Reflection

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Classification of partial shapes using string-to-string matching

Classification of partial shapes using string-to-string matc...

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intelligent robots and computer vision vii 1988

作者： Liu, Hong-Chih Srinath, M.D. Department of Electrical Engineering Southern Methodist University DallasTX75275 United States

In this paper, we present an algorithm that enables us to recognize a partial shape without regard to its size, rotation or location. The algorithm uses the curvature function obtained from the digital representation of the shape. The curvature function is next represented by a string, by slicing it with horizontal lines. By using as primitives the sign of the curvature function slope within a pair of such lines, a symbol string is obtained which describes the relative amplitude of the peaks and valleys on the waveform and is invariant to size or location of the object within the scene. Since the curvature function is periodic, it can be made rotation invariant by suitably choosing the start point of the string. The resulting strings are matched using a standard measure of dissimilarity such as the number of operations such as substitution, deletion and insertion needed to transform one string to another. To obtain rotation invariance, we determine the dissimilarity measure by trying all the characters of one string (the test string) as start points. The algorithm has been successfully tested on several partial shapes, using two sets of data. The first set consisted of 4 classes of various types of aircraft, while the second set consisted of shapes of different lakes. The algorithm works reasonably well even in the presence of a moderate amount of noise. © 1989 SPIE. All rights reserved.

关键词： computer vision

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Adaptive moving object tracking integrating neural networks and intelligent processing

Adaptive moving object tracking integrating neural networks ...

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intelligent robots and computer vision vii 1988

作者： Lee, James S.J. Nguyen, Dziem D. Lin, C. Boeing Electronics High Technology Center P.O. Box 24969 MS 7J-24 SeattleWA98124-6269 United States

A real-time adaptive scheme is introduced to detect and track moving objects under noisy, dynamic conditions including moving sensors. This approach integrates the adaptiveness and incremental learning characteristics of neural networks with intelligent reasoning and process control. Spatiotemporal filtering is used to detect and analyze motion, exploiting the speed and accuracy of multiresolution processing. A neural network algorithm constitutes the basic computational structure for classification. A recognition and learning controller guides the on-line training of the network, and invokes pattern recognition to determine processing parameters dynamically and to verify detection results. A tracking controller acts as the central control unit, so that tracking goals direct the over-all system. Performance is benchmarked against the Widrow-Hoff algorithm, for target detection scenarios presented in diverse FLIR image sequences. Efficient algorithm design ensures that this recognition and control scheme, implemented in software and commercially available image processing hardware, meets the real-time requirements of tracking applications. © 1989 SPIE. All rights reserved.

关键词： Controllers

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Image features as virtual beacons for local navigation

Image features as virtual beacons for local navigation

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intelligent robots and computer vision vii 1988

作者： Engel, Antonie J. Brown University Department of Computer Science Box 1910 ProvidenceRI02912 United States

A technique for dynamic position correction using image features as virtual beacons is described. An algorithm which acquires new features, computes robot position correction vectors from tracked features, and maintains feature reliability statistics is detailed. The algorithm minimizes the use of matching to reduce computational expense and increase robustness. The principal inputs to the algorithm are the relative bearings observed between feature pairs. Unlike stereo-vision techniques it does not compute explicit feature range estimates. Unlike the bulk of vision based navigation methods, an accurate position estimate results from the integration of a large number of correction vectors derived from the low level analysis of many images. A control architecture for an autonomous mobile robot which makes use of this positioning technique is discussed. The general navigation problem of positioning, model building, path finding, and path execution is decomposed into local and global navigation. Local navigation is independent of high level representations, it is concerned with the immediately perceivable environment and deals with the bulk of the real-time constraints. Methods for coupling local and global navigation are explored. Simulation results showing the behavior of such a control system are presented. The motivation behind this research is the belief that a substantial subset of the navigation problem can be solved using only information obtained during early vision processing. This technique is expected to be more computationally tractable than methods based on optical flow field determination and more accurate than landmark based navigation methods. © 1989 SPIE. All rights reserved.

关键词： Stereo vision

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Supersymmetry for cognitive science 7

Supersymmetry for cognitive science

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intelligent robots and computer vision vii 1988

作者： Flanagan, Brian J. 1440 40th Street NE Cedar RapidsIA52402 United States

Machine vision may be understood as an attempt to replicate natural vision. The latter process is associated with neural networks. Light enters the eye and sets in motion processes which culminate in observed patterns of color. Light is, of course, an electromagnetic phenomenon. Our nerve cells communicate with each other via electrochemical means. To say that a process is electrochemical is to say that it is electromagnetic, involving the exchange of photons among electrons. It seems, therefore, that we ought to be able to understand vision in terms of the physical theory of electromagnetism. Historically, however, it has been held that such properties as color do not belong to the physical world. Color has long been considered to be a mental effect of physical stimuli. Nevertheless, it is generally understood that color is related to the energy, wavelength, and frequency of the photons which give rise to the "mental" impression of hue and intensity and so forth. Similar arguments and propositions can be made for all of the sensory modalities, but we will restrict our attention to vision for the time being. If, with Mach, we accept that colors are physical objects, we are obliged to seek a suitable place for them within the body of physical theory. Where should we locate them? Colors are given to us as simple entities, having no parts: We can point to an object that is blue, but we cannot say what blue is. Color is given to us as elemental. In a formal theory, we have a number of elements, rules for joining them, well-formed formulae, and methods of proof. It seems to make good sense to place color among the elements of a formal theory (T). If our mind/brains can be modelled by a formal theory, it follows logically that we should not be able to define our elements - i.e., if we could define our elements, they would not be elements.

关键词： Electromagnetism Machine vision Optical spheres Physics Photons computer vision technology Robot vision robots Eye Neural networks

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Geometry guided segmentation

Geometry guided segmentation

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intelligent robots and computer vision vii 1988

作者： Dunn, Stanley M. Liang, Tajen Department of Electrical and Computer Engineering Rutgers University PiscatawayNJ08855-0909 United States

Our overall goal is to develop an image understanding system for automatically interpreting dental radiographs. This paper describes the module that integrates the intrinsic image data to form the region adjacency graph that represents the image. The specific problem is to develop a robust method for segmenting the image into small regions that do not overlap anatomical boundaries. Classical algorithms for finding homogeneous regions (i.e., 2 class segmentation or connected components) will not always yield correct results since blurred edges can cause adjacent anatomical regions to be labeled as one region. This defect is a problem in this and other applications where an object count is necessary. Our solution to the problem is to guide the segmentation by intrinsic properties of the constituent objects. The module takes a set of intrinsic images as arguments. A connected components-like algorithm is performed, but the connectivity relation is not 4-or 8-neighbor connectivity in binary images;the connectivity is defined in terms of the intrinsic image data. We shall describe both the classical method and the modified segmentation procedures, and present experiments using both algorithms. Our experiments show that for the dental radiographs a segmentation using gray level data in conjunction with edges of the surfaces of teeth give a robust and reliable segmentation. © 1989 SPIE. All rights reserved.

关键词： Binary images

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vision guided intelligent robot design and experiments

Vision guided intelligent robot design and experiments

引用

intelligent robots and computer vision VI 1987

作者： Slutzky, G.D. Hall, E.L. Center for Robotics Research University of Cincinnati Mail Location #72 CincinnatiOH45221 United States

The concept of an intelligent robot is an important topic combining sensors, manipulators, and artificial intelligence to design a useful machine. vision systems, tactile sensors, proximity switches and other sensors provide the elements necessary for simple game playing as well as industrial applications. These sensors permit adaption to a changing environment. The AI techniques permit advanced forms of decision making, adaptive responses, and learning while the manipulator provides the ability to perform various tasks. computer languages such as LISP and 0PS5, have been utilized to achieve expert systems approaches in solving real world problems. The purpose of this paper is to describe several examples of visually guided intelligent robots including both stationary and mobile robots. Demonstrations will be presented of a system for constructing and solving a popular peg game, a robot lawn mower, and a box stacking robot. The experience gained from these and other systems provide insight into what may be realistically expected from the next generation of intelligent machines. © 1988 SPIE. All rights reserved.

关键词： intelligent robots

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A procedural approach to view independent three dimensional object recognition and pose determination

A procedural approach to view independent three dimensional ...

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intelligent robots and computer vision vii 1988

作者： Hemler, Paul F. Snyder, Wesley E. Massachusetts Institute of Technology Lincoln Laboratory P.O. Box 73 LexingtonMA02173-0073 United States Department of Electrical Engineering and Computer Engineering North Carolina State University Box 7911 RaleighNC27606-7911 United States

This paper presents a new approach to view independent object recognition where both the image and the model are represented conceptually as a graph structure. The model graph is implemented as a procedure, and is therefore referred to as a Procedural Model. Binary relations between nodes in the object graph are implemented implicitly by the calling relations between procedures. A collection of such procedures and the calling relations between them provides a full depth-first search of the tree of possible model node to image node bindings. A complete image analysis system was developed and used to demonstrate the functionality and usefulness of the Procedural Model approach to new independent object recognition. Although arbitrarily complex search trees can be implemented in this fashion, the syntax of the individual model procedures is shown to be so similar, for objects composed of analytic surfaces, that such models can be built automatically. An interactive program has been written which can be used to construct a Procedural Model by prompting only for object-specific information. © 1989 SPIE. All rights reserved.

关键词： Object recognition

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Utilizing context in computer vision by confidence modification

Utilizing context in computer vision by confidence modificat...

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intelligent robots and computer vision vii 1988

作者： Mogre, Advait McLaren, Robert Keller, James University of Missouri-Columbia Department of Electrical and Computer Engineering ColumbiaMO65211 United States

The analysis of images derived from a "real" scene often involves applying a rule-based structure leading to object detection, recognition and object relationships. A rule consists of a set of conditions whose satisfaction triggers the rule. These conditions are based on domain knowledge of image characteristics, inferred knowledge, and scene context. Firing a rule leads to conclusions with assigned confidences. Frequently, additional scene context knowledge can have a significant effect on the final conclusion but is excluded because its form varies from scene to scene, and its unavailability in the main rule base would prevent rule application. This paper utilizes context by altering confidences associated with conclusions of specific rules. Uncertainty computations for conclusions of rules to which the contextual information applies would be effected. For each rule, Rj, of the main rule structure, a context factor Cj with values over [-1, 1], is defined. If Cj =0, no relevant context information is present;if Cj≤0, there is a degree of support;if Cj≤0, a conflict with the conclusion is implied. If P(THEN, j) represents the certainty in the conclusion of rule Rj, then modify this as P'(THEN, j)=f'[P(THEN, j), Cj], where f' is selected to satisfy conditions imposed on the confidence and context information. © 1989 SPIE. All rights reserved.

关键词： Object detection

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