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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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Phase method for binocular vergence control and depth reconstruction

Phase method for binocular vergence control and depth recons...

引用

intelligent robots and computer vision xI: Biological, Neural Net, and 3-D Methods

作者： Theimer, Wolfgang M. Mallot, Hanspeter A. Toelg, Sebastian Ruhr Univ. Bochum Ger

ISBN: (纸本)0819410276

We present a technique to guide vergence movements for an active stereo camera system and to construct dense disparity maps. Both processes are described in the same theoretical framework based on phase differences in complex Gabor filter responses, modelling receptive field properties in the visual cortex. While the camera movements are computed with coarse spatial resolution input images, disparity calculation uses finer resolutions in a scale space. The correspondence problem is solved implicitly by restricting the disparity range around zero disparity to the filter kernel sizes (Panum's area in the human visual system). The method contrasts to matching algorithms - that require an explicit search for correspondence - and to correlation, needing a maximum detection in the correlation function. The vergence process is interpreted as a mechanism to minimize global disparity, thereby setting a 3D region of interest for subsequent disparity detection. This mall volume is centered around the fixation point where both optical axes intersect. Additionally it produces a scalar distance measure via vergence angles and camera base. The disparity map represents smaller local disparities as an important cue for depth perception. The vergence control works in a real-time feedback loop. Quantitative results are presented.

关键词： computer vision

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on intelligent robots and Systems (IROS)

作者： C.x. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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MEASURING SHAPES BY SIZE FUNCTIONS

MEASURING SHAPES BY SIZE FUNCTIONS

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CONF ON intelligent robots AND computer vision 10 : algorithms AND techniques

作者： FROSINI, P Univ. di Bologna (Italy)

ISBN: (纸本)0819407445

We define the concept of size functions. They are functions from the real plane to the natural numbers which describe the `shape of the objects' (seen as submanifolds of a Euclidean space). We give two different techniques of computation of size functions and some actual examples of computation. Moreover, we present the concept of deformation distance between manifolds (i.e., curves, surfaces, etc.). It is a distance which measures the `difference in shape' of two manifolds. Finally we point out the link between deformation distances and size functions.

关键词： Robot vision robots Astatine computer vision technology Evolutionary algorithms Machine vision Optical spheres Distance measurement Shape analysis Artificial intelligence

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IMPROVEMENT OF ALGORITHM ABOUT CORNER DETECTION IN OBJECT FEATURE-ExTRACTION

IMPROVEMENT OF ALGORITHM ABOUT CORNER DETECTION IN OBJECT FE...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： SUN, GL Institute of Optics and Electronics (China)

An improved algorithm for corner detection in object feature extraction is presented. Due to the introduction of a novel linear transformation, the feature of the chain-code can be applied more reasonably, not only co... 详细信息

ISBN: (纸本)0819410268

关键词： Corner detection Detection and tracking algorithms Feature extraction Image segmentation computer vision technology Machine vision Robot vision robots Microfabrication Sun

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APPLICATION OF MORPHOLOGICAL TRANSFORMATIONS IN DEFECT DETECTING OF PRINTED-CIRCUIT BOARD (PCB)

APPLICATION OF MORPHOLOGICAL TRANSFORMATIONS IN DEFECT DETEC...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： YUAN, SF ZHANG, xR CHEN, Lx HONG, J Harbin Institute of Technology (China)

ISBN: (纸本)0819410268

The application of morphological transformations in defect detecting of printed circuit boards (PCB) is discussed. computer simulation results are given to demonstrate defect detection of PCBs with morphological transformations. A programmable optical binary image morphological processor is given to implement this kind of defect detecting.

关键词： Defect detection Binary data Image processing computer vision technology Machine vision computer simulations Computing systems Frame grabbers Robot vision robots

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OBJECT SEGMENTATION techniques FOR USE IN LABORATORY VISUAL AUTOMATION SYSTEMS

OBJECT SEGMENTATION TECHNIQUES FOR USE IN LABORATORY VISUAL ...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： EGGLESTON, P Amerinex Artificial Intelligence Inc. (United States)

ISBN: (纸本)0819410268

In designing automated systems for interpretation or manipulation of laboratory image data such as that derived from microphotographs, it is often the goal to perform operations that extract information about the structure of objects, and to separate and discern various objects within the data. Measurements of the events, called features, can then be calculated and used for process or statistical analysis. Given a transformation of the pixel based image data into an explicit symbolic representation of the objects (i.e., the creation of objects of interest or Tokens), desired information can be extracted and characterized from the visual data. Simple segmentation schemes often lack the sophistication to deal with intricate or very subtle details of this image data. This paper discusses advanced techniques useful in obtaining information relevant to the recognition and extraction of objects of interest in laboratory vision automation applications.

关键词： Image segmentation computer vision technology Image processing Machine vision Edge detection Robot vision robots Visualization Image processing algorithms and systems Photomicroscopy

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INCORPORATING COLOR AND SPATIOTEMPORAL STEREOvision techniques FOR ROAD FOLLOWING

INCORPORATING COLOR AND SPATIOTEMPORAL STEREOVISION TECHNIQU...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： SUNG, E MYINT, T Nanyang Technological Univ. (Singapore)

ISBN: (纸本)0819410268

This paper proposes a method of implementing stereovision in existing mobile robot perception systems without having to solve the classical stereo correspondence problem. The proposed method makes use of the fact that tracking of features is an easier task than performing stereo correspondence. A two-view motion stereo system is implemented in which the correspondence between two cameras is found by temporal stereo tracking. The algorithm assumes an initial stereo match of homologous features seen in the two cameras but subsequently the algorithm reliably tracks each feature by use of accurate odometric information, and accurate 3-D information can be derived from each matched feature. The derived set of 3-D data (of points, lines, and regions) are then fed to a fast surface reconstruction algorithm for later stage interpretation. The proposed scheme can be added to existing mobile robot road following systems at little added cost.

关键词： Cameras Roads Image segmentation Detection and tracking algorithms robots Calibration Mobile robots computer vision technology Machine vision Robot vision

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MULTIRESOLUTION SEGMENTATION OF RANGE IMAGES BASED ON BAYESIAN DECISION-THEORY

MULTIRESOLUTION SEGMENTATION OF RANGE IMAGES BASED ON BAYESI...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： BOULANGER, P GODIN, G National Research Council Canada (Canada)

ISBN: (纸本)0819410268

This paper describes recent work on hierarchical segmentation of range images. The algorithm starts with an initial partition of small planar regions using a robust fitting method constrained by the detection of depth and orientation discontinuities. From this initial partition represented by an adjacency graph structure, we optimally group these regions into larger and larger regions until an approximation limit is reached. The algorithm uses Bayesian decision theory to determine the local optimal grouping and the geometrical complexity of the approximation surface. This algorithm produces a hierarchical structure that can be used to represent objects with a varying level of detail by scanning through the hierarchical structure generated. Experimental results are presented.

关键词： Image segmentation Image processing algorithms and systems Data modeling computer vision technology Error analysis Machine vision Robot vision robots Detection and tracking algorithms Signal to noise ratio

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RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PLANE TRANSFORM

RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PL...

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CONF ON intelligent robots AND computer vision 10 : algorithms AND techniques

作者： TANIGUCHI, H FURUSAWA, H SEKI, A IKEBATA, S Mitsubishi Electric Corp. (Japan)

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.

关键词： Image processing Detection and tracking algorithms Robot vision robots Machine vision computer vision technology Cameras Edge detection Magnetic sensors Roads

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techniques FOR HIGH-PERFORMANCE ANALOG NEURAL NETWORKS 10

TECHNIQUES FOR HIGH-PERFORMANCE ANALOG NEURAL NETWORKS

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CONF ON intelligent robots AND computer vision 10 : NEURAL, BIOLOGICAL, AND 3-D METHODS

作者： CASASENT, D NEIBERG, L NATARAJAN, S Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819407453

We consider analog neural network implementations (using VLSI or optical technologies) with limited accuracy and various noise and nonlinearity error sources. algorithms and techniques to achieve high performance (good recognition P'_c% and large storage capacity) on such systems are considered. The adaptive clustering neural net (ACNN) and robust Ho-Kashyap (HK-2) associative processor (AP) are the neural networks considered in detail.

关键词： Neurons Analog electronics Neural networks Very large scale integration computer programming Quantization computer vision technology Machine vision Robot vision robots

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