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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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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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Evaluation functions for assembly sequence planning

Evaluation functions for assembly sequence planning

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intelligent robots and computer vision vii 1988

作者： Sanderson, Arthur C. De Mello, Luiz S. Hornern Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Planning robotic manipulation operations is fundamental to the implementation of systems for assembly, disassembly, and repair of space-based equipment. Both teleoperated and fully-autonomous modes of operation will require the representation of feasible operations sequences which accomplish specified tasks. We have developed the AND/OR graph representation of assembly sequences and shown its completeness and correctness for assembly plan representation. The AND/OR graph partitions the state representation in a manner which facilitates local planning decisions. The use of alternative plan representations is coupled to the need for evaluation functions which guide the choice of desirable actions at any given state. In assembly planning, entropy evaluation functions provide a tool for assessment of the complexity of the current state in terms of the available degrees of freedom of motion of parts. Reducing the degrees of freedom of motion of the parts through the introduction of constraints corresponds to a decrease in entropy measures of the assembly. Assembly steps which couple the accuracy of the positioning device to the constraint clearances of the parts are selected using this measure. The entropy evaluation measure may be computed directly from attributes incorporated into a relational description of the parts geometry. The entropy measures must be coupled with other measures of manipulation complexity, availability of tools and fixtures, and speed and cost requirements for the development of general system planning systems. © 1989 SPIE. All rights reserved.

关键词： Entropy

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Experimental evaluation of two robust control algorithms on an industrial manipulator

Experimental evaluation of two robust control algorithms on ...

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intelligent robots and computer vision vii 1988

作者： Cohen, Moshe Daneshmend, Laeeque K. McGill Research Centre for Intelligent Machines Department of Electrical Engineering McGill University 3480 University Street MontrealQCH3A 2A7 Canada

Industrial manipulators are typically controlled by proportional-derivative algorithms implemented at the individual joints. Recent theoretical results have shown that robust controllers which take into account the system dynamics can provide more accurate trajectory tracking and greater robustness to unmodeled disturbances. This research implements two such controllers - a sliding mode algorithm, and an acceleration feedback algorithm - on an industrial manipulator and evaluates their performance in comparison with a proportional-derivative algorithm implemented in the same manner. The objective of robust control designs is to make the system insensitive to disturbances and modelling uncertainties. The manipulator equations of motion are non-linear and cross-coupled, and in practice the joint actuators experience significant frictional disturbances due to high gear ratios. The robust algorithms implemented do not rely on an accurate model of the dynamics, and are computationally efficient in comparison to model-based (feedforward) controllers. Experimental results are presented for sliding-mode and acceleration feedback controllers, and these are compared with conventional proportional-derivative under the same and operating conditions. Tracking of position trajectories is shown to improve markedly when a particular sliding-mode scheme is used. © 1989 SPIE. All rights reserved.

关键词： Industrial manipulators

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ROBOSIGHT: Robotic vision system for inspection and manipulation

ROBOSIGHT: Robotic vision system for inspection and manipula...

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Expert robots for Industrial Use 1988

作者： Trivedi, Mohan M. Chen, Chuxin Marapane, Suresh Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. vision systems are utilized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful fqr tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed. © 1989 SPIE. All rights reserved.

关键词： intelligent robots

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intelligent robots and computer vision, vii

Intelligent Robots and Computer Vision, VII

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1988年

作者： David Paul Casasent

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DYNAMIC MULTI-SENSOR DATA FUSION SYSTEM FOR intelligent robots

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IEEE JOURNAL OF ROBOTICS AND AUTOMATION 1988年第4期4卷 386-396页

作者： LUO, RC LIN, MH SCHERP, RS Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the 'real world'. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated.< >

关键词： intelligent robots intelligent sensors Sensor systems Temperature sensors Robot sensing systems Sensor fusion Layout Robotics and automation Automatic control Control systems

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vision guided intelligent robot design and experiments

Vision guided intelligent robot design and experiments

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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 spherical approach to optical flow

A spherical approach to optical flow

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intelligent robots and computer vision VI 1987

作者： Penna, Michael A. Chen, Su-Shing Department of Mathematical Sciences Purdue University at Indianapolis 1125 East 38th Street IndianapolisIN46223 United States Department of Computer Science University of North Carolina CharlotteNC28223 United States

In the computer vision literature, the vision model used most frequently has incorporated Monge surfaces and either orthographic or planar perspective. In recent years, a vision model based on spherical surfaces and spherical perspective has arisen as an alternative that avoids the limitations of these standard models. In this paper we discuss the use of the spherical vision model in the study of optical flow for smooth surfaces. © 1988 SPIE. All rights reserved.

关键词： Optical flows

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