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intelligent robots and computer vision x: algorithms and techniques

作者： Hou, Edwin S. Utama, Wibawa New Jersey Inst. of Technology Newark NJ USA

ISBN: (纸本)0819407445

A redundant manipulator can be defined as a manipulator that has more degrees of freedom than necessary to determine the position and orientation of the end-effector. Such a manipulator has dexterity, flexibility, and the ability to maneuver in the presence of obstacles. This paper presents a solution to the inverse kinematics problem for redundant manipulator based on artificial neural network (ANN). The ANN used is of the supervised type - multilayer feedforward neural network with back error propagation (BEP) training algorithm. The training set for the ANN is obtained by sampling the joint space trajectory of the redundant manipulator arm or from the joint angle encoders of the manipulator. These sampled values of the task space trajectory (end-effector coordinates) are used as the command input vectors to the ANN. By presenting the network with these training set cyclically during training time, the BEP algorithm will change the learning parameters of the ANN so that the sum of the squared difference between the actual joint coordinates and the desired output vectors is minimized.

关键词： robots

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Controlling autonomous loading manipulator with planning-executing-monitoring cycles

Controlling autonomous loading manipulator with planning-exe...

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intelligent robots and computer vision x: algorithms and techniques

作者： Pieska, Sakari Heikkila, Tapio A. Riekki, Jukka P. Taipale, Tapio Kansala, Klaus Roning, Juha J. Technical Research Cent. of Finland Oulu Finland

ISBN: (纸本)0819407445

robots operating in unstructured environments require continuous utilization of sensors and intelligence for adapting to changing situations. In this paper a control method to achieve this goal is described and preliminary experiments are discussed. The control scheme is based on a hierarchically organized set of planning-executing-monitoring (PEM) cycles. Every PEM cycle is a goal-oriented module, which consists of three generic activities - planning, executing, and monitoring - and a separate meta control mechanism, which takes care of the control of generic activities inside a PEM cycle. We present our design experiments beginning from the development of a PEM-based logical model for an autonomous machine, and continue to the development of an implementation model for a loading manipulator control system. The laboratory implementations in two industrial robot environments are also described as well as plans for PEM-control implementation for a heavy-duty manipulator designed for loading paper rolls in harbor sites.

关键词： robots

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Finding cones from multi-scan range maps 10

Finding cones from multi-scan range maps

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intelligent robots and computer vision x: Neural, Biological, and 3-D Methods 1991

作者： Lejun, Shao Volz, Richard School of Electrical and Electronic Engineering Nanyang Technological University Singapore2263 Singapore Computer Science Department Texas A and M University College StationTX77843 United States

Two algorithms are presented to locate a cone with a known shape from a range scan map. They are ellipse fitting and three-scan methods. The localization problem includes the finding of both cone's orientation and displacement relative to the sensing coordinate system. The work described in this paper is an extension to the problem of extracting the cylinder parameters from a depth scan map. The range data are obtained from either a light-stripe based range sensor or a line range sensor, which measures the distance between the sensor and the nearest points on the intersection of the light plane and the scene. The three-scan method uses range data from three scan lines of measurements. It does not use any ellipse fitting. This method first extracts the orientation parameters of at least three cone's generators and then derive the axis direction vector from the cone's generators. The performance of this method is compared with the usual ellipse fitting method. © 1992 SPIE. All rights reserved.

关键词： Geometry

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vision MODELS FOR 3D SURFACES

VISION MODELS FOR 3D SURFACES

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11TH CONF ON intelligent robots AND computer vision : BIOLOGICAL, NEURAL NET, AND 3-D METHODS

作者： MITRA, S Texas Tech Univ. (United States)

ISBN: (纸本)0819410276

Different approaches to computational stereo to represent human stereo vision have been developed over the past two decades. The Marr-Poggio theory of human stereo vision is probably the most widely accepted model of the human stereo vision. However, recently developed motion stereo models which use a sequence of images taken by either a moving camera or a moving object provide an alternative method of achieving multi-resolution matching without the use of Laplacian of Gaussian operators. While using image sequences, the baseline between two camera positions for a image pair is changed for the subsequent image pair so as to achieve different resolution for each image pair. Having different baselines also avoids the inherent occlusion problem in stereo vision models. The advantage of using multi-resolution images acquired by camera positioned at different baselines over those acquired by LOG operators is that one does not have to encounter spurious edges often created by zero-crossings in the LOG operated images. Therefore in designing a computer vision system, a motion stereo model is more appropriate than a stereo vision model. However, in some applications where only a stereo pair of images are available, recovery of 3D surfaces of natural scenes are possible in a computationally efficient manner by using cepstrum matching and regularization techniques. Section 2 of this paper describes a motion stereo model using multi-scale cepstrum matching for the detection of disparity between image pairs in a sequence of images and subsequent recovery of 3D surfaces from depth-map obtained by a non convergent triangulation technique. Section 3 presents a 3D surface recovery technique from a stereo pair using cepstrum matching for disparity detection and cubic B-splines for surface smoothing. Section 4 contains the results of 3D surface recovery using both of the techniques mentioned above. Section 5 discusses the merit of 2D cepstrum matching and cubic B-spline interpolation

关键词： 3D modeling Motion models Visual process modeling 3D vision Stereo vision systems Cameras Human vision and color perception 3D image processing Computing systems Machine vision

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Applications of Artificial Intelligence x: Machine vision and Robotics

Applications of Artificial Intelligence X: Machine Vision an...

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Applications of Artificial Intelligence x: Machine vision and Robotics

ISBN: (纸本)0819408735

The Conference materials contain 69 papers. Robotic vision systems, machine vision inspection techniques, segmentation of fused range/ intensity imagery, parallel and VLSI architectures for machine vision, comparison of range segmentation algorithms, state of the arts in post-canny edge detection, simulation and visualization environments for autonomous robots, robot reach/grasp operations, fuzzymorphological neural networks, reasoning techniques for vision systems, recognition techniques, object representation and matching, reactive robotic control strategies, and image processing techniques are the main topics covered.

关键词： computer vision

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Fast image segmentation by sliding in the derivative terrain

Fast image segmentation by sliding in the derivative terrain

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intelligent robots and computer vision x: algorithms and techniques

作者： Yao, xu Hung, Yi-Ping Inst. of Information Science Nanking Taipei 11529 Taiwan

ISBN: (纸本)0819407445

Image segmentation is one of the most important problems in computer vision. Recently, Fairfield proposed an interesting approach to image segmentation using toboggan enhancement followed by naive contrast segmentation, which is a noniterative, linear execution time method. The way it operates can be thought of as a man tobogganing in the first derivative terrain, i.e., the graph surface of a discontinuity measure computed by the first derivative of the image intensity. The segmentation results it produced appeared equal in quality to that of other complex optimal region growing methods. In this paper, an improved version of Fairfield's method, called keep-sliding toboggan segmentation, is presented. With our method, the toboggan will keep sliding on a plane in the derivative terrain, where the original toboggan method will stop sliding. Therefore, our method produces far less regions than the original. Other improvements achieved are as follows: Instead of being followed by contrast segmentation post-process, our keep-sliding tobogganing process is preceded by a prefiltering process which suppresses small fluctuations in the first derivative terrain. Because of this prefiltering operation, our tobogganing process can automatically merge the regions having small intercontrast. Also, a new discontinuity measure is proposed to allow the detection of small target regions without ever-segmenting the images. Experimental results indicate that the segmentations produced by the keep-sliding toboggan method are less noisy, and, therefore, it is more appropriate to use them as initial segmentations for higher level image segmentation techniques.

关键词： computer vision

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Algorithm for the recognition of the usefulness of objects in actions

Algorithm for the recognition of the usefulness of objects i...

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intelligent robots and computer vision x: algorithms and techniques

作者： Jaulent, Marie-Christine Vaina, Lucia M. Hospital Broussais Paris France

ISBN: (纸本)0819407445

A main goal of robotics is to impart in machines an ability to intelligently interact with their environments. In this study we present a system (and an implementation of it) which evaluates the compatibility between objects and specific goal oriented action requirements for carrying out hand-actions. The system is an extension in the framework of fuzzy sets and possibility theory of our model of functional recognition of objects. The system operates on a hierarchical description of objects and action requirements which are mapped into a functional compatibility domain. We show that what computations are actually carried out by the algorithm depends on the application. When the system is used for inspection, it probably knows the identity of the object and its task is only to verify whether the object is in a state that allows its use in the prototypical action for which it has been designed. When the system is used for categorization purposes it needs to identify the existence of features compatible with the action requirements and it verifies that features which prevent carrying out the action cannot be identified. This latter case is particularly interesting and computationally challenging since the system is asked to compute the auxiliary, or possible functions of an object in addition to the prototypical function. The computation of the auxiliary functions relies on the description of the object's parts and subparts.

关键词： robots

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Learning-based control of preception for mobility

Learning-based control of preception for mobility

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IEEE International Symposium on intelligent Control (ISIC)

作者： M. Barth S. Das B. Bhanu College of Engineering University of California Riverside CA USA

To overcome the lack of flexibility and inadequacy in performance speed of perception systems for use in real-time tasks, the authors have applied integrated learning techniques to a perception system that is based on a selective sensing paradigm. The incorporation of multiple learning algorithms at different levels provides a great deal of flexibility and robustness when different perceptual task are performed. Using a selective sensing paradigm allows the system to eliminate a large amount of nonpertinent sensory data so that processing speed is greatly increased. Such a perception system is being implemented on an autonomous mobile agent. The methodology and a preliminary example of learning within the perception system are presented.< >

关键词： Mobile agents Navigation Application software Mobile robots Learning systems computer vision Machine learning Genetic algorithms Parallel processing Hardware

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A Safety System for Close Interaction between Man and Robot

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IFAC Proceedings Volumes 1992年第30期25卷 25-29页

作者： Albert-Jan Baerveldt Institute of Robotics ETH Zurich CH-8092 Zurich Switzerland

The question of robot safety becomes increasingly important as future robots will be required to share their working area with humans in order to achieve a fruitful cooperation between man and robot. This paper presents a new safety system which allows such a close interaction. The safety system consists basically of two modules. One module has the task to localize people inside the working area and provide the robot with an appropriate behavior pattern in order to avoid situations endangering the operator. This module uses a camera and computer vision techniques to obtain the location of the operator. The other module has to prevent a robot runaway, which can be defined as an unexpected robot motion due to a failure of robot hardware or software. Our runaway protection system measures the acceleration of the robot arm by means of three orthogonal accelerometers. An emergency stop is initiated if the difference between measured and expected acceleration exceeds a certain limit.

关键词： robots safety man-machine systems intelligent machines image processing

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intelligent robots and computer vision Ix: algorithms and techniques

Intelligent Robots and Computer Vision IX: Algorithms and Te...

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intelligent robots and computer vision Ix: algorithms and techniques

This Conference Proceedings contains 58 papers presented in 8 sessions dealing with: vision and robotics problems needing solutions;pattern recognition for computer vision;image processing;intelligent materials handling and vision;novel preprocessing algorithms and hardware;technology to support intelligent robots and automated systems;fuzzy logic in intelligent systems and computer vision;image segmentation techniques. The topics considered include the following, among others: learning procedure for the recognition of 3-D objects from 2-D images;flexible gray-level vision system based on multiple cell feature description and Hough transform;extraction of the foveal center and lesion boundary from fundus images;design and characterization of a space-variant CCD sensor;toward a general formula for analogical learning leading to more autonomous systems;image analysis using attributed fuzzy tournament matching algorithm;fuzzy logic for fault diagnosis;color segmentation using minimum description length (MDL) clustering;segmentation using range data and structured light;finding distinctive colored regions in images;multiresolution segmentation of forward-looking IP and SAR imagery using neural networks.

关键词： robots

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