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

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Collision avoidance tests using the Charlie_1 Trike vehicle

Collision avoidance tests using the Charlie_1 Trike vehicle

引用

intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Allen, Charles R. West, R. Univ. of Newcastle upon Tyne Newcastle United Kingdom

ISBN: (纸本)0819410268

Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attributes of a prototype mobile vehicle using synchronized dc motor drives, and a number of methods for the on-line planning of obstacle avoidance. Measurements of the efficiency of the paths described using each collision avoidance method are quantified using a number of metrics discussed in the paper.

关键词： Mobile robots

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Lab. setup for sensory-based robot programming

Lab. setup for sensory-based robot programming

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Kukareko, Evgeni Roning, Juha J. Univ. of Oulu Oulu Finland

ISBN: (纸本)0819410268

This paper presents results of developing basic control approaches, structures and software tools for the sensory based robot setup programming. The control task decomposition is described. The paper focuses on the robot controller structure and its implementation. The solution of the inverse and direct kinematic problems in simulation tasks for a GMFanuc S-10 robot are suggested. Preliminary results of simulation experiments are presented.

关键词： Programmable robots

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ROBUST DEPTH ExTRACTION FOR MOBILE robots 12

ROBUST DEPTH EXTRACTION FOR MOBILE ROBOTS

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12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： NAGLE, MG SRINIVASAN, MV SOBEY, PJ Australian National Univ. (Australia)

ISBN: (纸本)0819413216

Stereoscopic techniques for recovering depth in scenes are computationally intensive and difficult to specify sufficiently well to ensure that optimal solutions are obtained in any given situation. Apparent motion cues are a far richer and more easily exploitable source of information on depth, but computing depth from motion in spatio-temporal image sequences has many pit-falls associated with it. We show that many of these can be avoided by simultaneous capture of two or more views of the scene, projected onto a single CCD sensor, using angled mirrors. The resulting fixed-camera ranging device is immune to camera vibration and motion as well as to changes in ambient illumination that occur during image capture. A 1-D, generalized gradient scheme is used to compute the apparent image motion induced by objects in the scene and hence the range to the corresponding objects. Furthermore, the fixed camera configuration enables the shape and size of the viewing filter to be preselected to optimize performance and maximize range resolution.

关键词： Cameras robots Optical filters Spatial filters Image filtering Motion measurement computer vision technology Machine vision Robot vision CCD image sensors

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USING COLOR TO COMPUTE OPTICAL-FLOW 12

USING COLOR TO COMPUTE OPTICAL-FLOW

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12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： LAI, JS GAUCH, J CRISMAN, J Northeastern Univ. (United States)

ISBN: (纸本)0819413216

In order to study the motion of non-rigid objects in an image sequence, it is often necessary to compute a dense optical flow field. Gradient-based techniques have been relatively successful at computing dense flow fields for gray-scale images when additional constraints are added. However, these constraints often introduce errors at the edges of objects, where the object motion is different from the background motion. Our approach is to use color images to obtain three constraint equations corresponding to three color components. This gives us an overdetermined linear system with three equations and two unknowns (x and y direction components of optical flow) which can be solved using linear least-squares algorithm. No further constraints are necessary. This paper presents such a color-based optical flow estimation and includes some initial promising results on synthetic motion image data. Further research directions are also discussed.

关键词： Optical flow computer vision technology Machine vision Motion estimation Robot vision robots Digital filtering Error analysis Optical filters Motion analysis

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Using viewpoint consistency in active stereo vision

Using viewpoint consistency in active stereo vision

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Clark, James J. Weisman, Michael J. Yuille, Alan L. Harvard Univ. Cambridge MA USA

ISBN: (纸本)0819410268

Surface models embedded in Bayesian or regularization style stereo vision algorithms bias the solution in a nonviewpoint invariant way. This lack of invariance reveals itself when the surface is computed from different viewpoints. Using the consistency between views one can try to adapt the prior surface models in a way that renders them more viewpoint invariant. The goal is to be able to adapt the stereo algorithm over time so that the same surface shape is obtained from different views. The method described in this paper uses the surface consistency measure to choose between the solutions provided by a set of simple prior surface models.

关键词： computer vision

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FUSION OF MULTISCALE EDGE MAPS FOR ROBUST SEGMENTATION OF RANGE IMAGES 12

FUSION OF MULTISCALE EDGE MAPS FOR ROBUST SEGMENTATION OF RA...

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12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： BACCAR, M ABIDI, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819413216

Segmentation is an important process in 3D vision since it is at this stage that all higher level processing begins. Range images are useful because they can provide direct depth measurements of objects in the scene which can be used for navigation and object manipulation tasks. Range images are characterized by two principal types of discontinuities: step edges that represent discontinuities in depth, and roof (or trough) edges that represent orientation discontinuities. A Gaussian weighted least squares technique is developed for extracting these two types of edges from range images. Edge extraction is followed by a surface-based region splitting algorithm in order to generate a more complete partition of the image. The result is fed into a surface-based region growing algorithm which yields the final segmentation image. The algorithm is tested using synthetic and real range image data which illustrate the importance of each of these steps in yielding final segmentation results that are robust and consistent.

关键词： Image segmentation Image processing algorithms and systems computer vision technology Machine vision Robot vision robots Image fusion Optical spheres Curium Lead

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LONG SEQUENCE-ANALYSIS OF HUMAN MOTION USING EIGENVECTOR DECOMPOSITION 12

LONG SEQUENCE-ANALYSIS OF HUMAN MOTION USING EIGENVECTOR DEC...

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12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： MURPHY, N BYRNE, N OLEARY, K Dublin City Univ. (Ireland)

ISBN: (纸本)0819413216

The work described in this paper takes place in the context of an attempt to develop a clearer understanding of what is meant by task oriented visual processing. The traditional separation of task and sensory processing within computer vision is something which has lead to an overemphasis on representation, modularity, and the single functionality of artificial vision systems. These issues are briefly discussed here in the context that the Karhunen Loeve Transform (KLT) is an algorithmic approach which allows us to begin to move away from a preconceived view of what vision is, how it works, and what it does. We summarize the mathematical background and basic operation of the KL coding procedure. We examine the application of the eigenvector decomposition to the analysis of human motion over several posture cycles of a walking sequence. The approach is used to examine the potential for recognition through motion, for posture description and for natural motion reconstruction processes. Various classification and analysis techniques, including artificial neural networks, the Fourier transform, and heuristic operations are used to extract the information available about the different cues investigated.

关键词： Machine vision computer vision technology Visualization Motion analysis Image processing Information visualization Robot vision robots Video Statistical analysis

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THE TECHNOLOGY OF IMAGE-PROCESSING FOR AIR VEHICLE AND ITS PROPERTY RESEARCH 12

THE TECHNOLOGY OF IMAGE-PROCESSING FOR AIR VEHICLE AND ITS P...

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12TH CONF ON intelligent robots AND computer vision : ACTIVE vision AND 3D METHODS

作者： xIONG, YG WANG, DZ Test and Measurement Centre Nanjing Aeronautical Institute Nanjing 210016 China

ISBN: (纸本)0819413216

In this paper.' a technique of image processing for air vehieie and sethod of property of researching air vehicle using thts technique is presented at first time. In this method, the original data are obstained using several photographs of air vehicle and the three dimensional coordinates of air vehicle configuration are solved. After interpolating and surface smoothing the grid drawing of air vehicle is made. The 3D image of air Vehicle configuration is reconstructed using image processing techniques for this grid drawing. According to this 3D images the wing area of air vehicle and other parameters are calculated, so the air dynamic property and flying property are researched. It is expressed through actual application for an aircraft that the air vehicle configuration can be obtained precisely using the method presented in this papers so avery difficult problem is solved in this field. The air dynamic property and flying property can be studied efficiently. This method has very important significant for air vehicle information collecting and studying and decision making. The techniques of image processing for air vehicle and the method of its property researching presented in this paper is very usefult for aeronautics and astronautics, applying Image processing intelligent system and computer vision system. © 1993 SPIE.

关键词： intelligent systems

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Electronic front-end processor for active vision

Electronic front-end processor for active vision

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Burt, Peter J. Anandan, P. Hanna, Keith David Sarnoff Research Cent. Princeton NJ USA

ISBN: (纸本)0819410268

We suggest that a `vision front end' processor, or VFE, will be a key element of practical vision systems that perform complex tasks in real time, such as autonomous vehicle driving. The VFE is a specialized image processing device located between the cameras and the main vision computer. Its functions are to isolate critical image data for subsequent attention-based analysis, and to compute attributes of these data that are required by the system in order to respond quickly to objects or events of interest in the scene. We propose a generic architecture for the VFE, and describe a prototype system that has been built in custom hardware. We show that a compact device can serve multiple vision modalities, including pattern, motion, and stereo vision.

关键词： computer vision

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Hierarchical edge detector using the first- and second-derivative operators

Hierarchical edge detector using the first- and second-deriv...

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Schuster, Rolf Ansari, Nirwan Bani-Hashemi, Ali R. New Jersey Inst. of Technology and Siemens Corporate Research Muenchen 80 Federal Republic of Germany

ISBN: (纸本)0819410268

This paper presents a new method for edge detection by combining the Sobel operator and the Laplacian of Gaussian (LoG) operator. The underlying idea is to combine the advantages of both operators and eliminate their disadvantages. Different methods of combining the two operators are considered. One method yields promising results in precise and blur free edge detection, and good stability versus image noise. A method for designing the LoG kernel is also presented.

关键词： computer vision

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