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

共 753 条记录，以下是211-220 订阅

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Auditory and visual integration based localization and tracking of humans in daily-life environments

Auditory and visual integration based localization and track...

引用

2007 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Hyun-Don Kim Kazunori Komatani Tetsuya Ogata Hiroshi G. Okuno Speech Media Processing Group Kyoto University Kyoto Japan

The purpose of this research is to develop techniques that enable robots to choose and track a desired person for interaction in daily-life environments. Therefore, localizing multiple moving sounds and human faces is necessary so that robots can locate a desired person. For sound source localization, we used a cross-power spectrum phase analysis (CSP) method and showed that CSP can localize sound sources only using two microphones and does not need impulse response data. An expectation-maximization (EM) algorithm was shown to enable a robot to cope with multiple moving sound sources. For face localization, we developed a method that can reliably detect several faces using the skin color classification obtained by using the EM algorithm. To deal with a change in color state according to illumination condition and various skin colors, the robot can obtain new skin color features of faces detected by OpenCV, an open vision library, for detecting human faces. Finally, we developed a probability based method to integrate auditory and visual information and to produce a reliable tracking path in real time. Furthermore, the developed system chose and tracked people while dealing with various background noises that are considered loud, even in the daily-life environments.

关键词： Humans Face detection Skin Change detection algorithms Microphones Lighting Robot vision systems computer vision Libraries Background noise

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Proceedings of SPIE - intelligent robots and computer vision XXIV: algorithms, techniques, and active vision

Proceedings of SPIE - Intelligent Robots and Computer Vision...

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intelligent robots and computer vision XXIV: algorithms, techniques, and active vision

ISBN: (纸本)0819464821

The proceedings contain 35 papers. The topics discussed include: automated synthesis of distortion-invariant filters: autominace;emerging directions in human-robotic space exploration technologies: remote operation of complex systems;a telepresence robot system realized by embedded object concept;pedestrian detection in crowded scene with the histogram of gradients principle;embodying a cognitive model in a mobile robot;visualization of pallets;indoor environment modeling for interactive robot security application;biomimetic sensory abstraction using hierarchical quilted self-organizing maps;feature optimization and creation of a real time pattern matching system;vehicle detection methods for surveillance applications;a parallel unmixing algorithm for hyperspectral images;intelligent robot control using an adaptive critic with a taskcontrol center and dynamic database;and autonomous robot navigation using vision and sensor based algorithm.

关键词： computer vision

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Multiscale Design and Modeling of Nanorobots

Multiscale Design and Modeling of Nanorobots

引用

2007 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Mustapha Hamdi Antoine Ferreira Laboratoire Vision et Robotique ENSI de Bourges Université d''Oran-Es-senia Bourges France

Nanorobotic structure design and modeling require large-scale computer simulation tools and numerical algorithms in order to better understand, control and accelerate development of multiscale nanosystems. Research on modeling and simulation of physical, chemical and biological systems at the nanoscale will include techniques such as quantum mechanics, multi-particle simulation, molecular dynamics simulation, grain and continuum based models. In this paper, we present a novel approach that makes use of multi-scale and multi- physics modeling coupled to virtual reality for nanorobotic prototyping systems. First, a CAD system that integrated principles for multiscale approach in nanorobotics structure design is presented. Then, we focus in the different design levels, more specifically, the optimization of geometry structure carried out by quantum mechanics, molecular dynamics and continuum mechanics methodologies. As illustration of the proposed multiscale modeling concepts, we tested by simulation the dynamics characteristics of a nanorobotic parallel platform with one degree-of-freedom (DOF) composed of proteins-based passive kinematic chains and actuated by a viral protein-based nanoactuator. Multiscale simulations proved the effectiveness and accuracy of the proposed design and modeling approaches.

关键词： Biological system modeling Nanobioscience Computational modeling Nanostructures Quantum mechanics Proteins Algorithm design and analysis Large-scale systems computer simulation Acceleration

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A New Landmark and Sensor Selection Method for Vehicle Localization and Guidance

A New Landmark and Sensor Selection Method for Vehicle Local...

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IEEE Symposium on intelligent Vehicle

作者： Cedric Tessier Michel Berducat Roland Chapuis Frederic Chausse CEMA GREF Aubiere France LASMEA - UMR 6602 24 avenue des Landais 63177 Aubière France. e-mail: chapuis@lasmea.univ-bpclermont.fr LASMEA - UMR 6602 24 avenue des Landais 63177 Aubière France

Markov localization is one of the effective techniques for determining the physical locations of an autonomous vehicle whose the perceptions of the environment are limited. To improve the localization, a multi-sensor approach is used. A landmark selection process is usually employed. The aim of this selection strategy is to select the landmark that answers at best to a criterion. In general, the selected landmark is the one that improve the most the vehicle's location. In this paper, we extend the landmark selection problem into a resource selection (i.e. sensor and feature detection algorithm) problem. This selection is also based on a criterion. However, this criterion is defined in function of the application's objectives. Here, the application concerns vehicle's guidance. This last one requires an accurate and reliable estimation. Thus, we propose a novel selection strategy of the landmark, the sensor, and the feature detection algorithm to offer an accurate and reliable localization. We demonstrate the practicality of this approach by guiding an experimental vehicle in real outdoor environment.

关键词： Navigation Remotely operated vehicles Mobile robots Robot sensing systems computer vision Detection algorithms Cameras Sensor systems Entropy intelligent vehicles

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An embedded vision system for an unmanned four-rotor helicopter

An embedded vision system for an unmanned four-rotor helicop...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Lillywhite, Kirt Lee, Dah-Jye Tippetts, Beau Fowers, Spencer Dennis, Aaron Nelson, Brent Archibald, James Brigham Young Univ Dept Elect & Comp Engn Robot Vis Lab Provo UT 84602 USA

ISBN: (纸本)0819464821

In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement, security, military, and civilian applications. The vision system is implemented on a newly designed compact FPGA board (Helios). The Helios board contains a Xilinx Virtex-4 FPGA chip and memory making it capable of implementing real time vision algorithms. A Smooth Automated intelligent Leveling daughter board (SAIL), attached to the Helios board, collects attitude and heading information to be processed in order to control the unmanned helicopter. The SAIL board uses an electrolytic tilt sensor, compass, voltage level converters, and analog to digital converters to perform its operations. While level flight can be maintained, problems stemming from the characteristics of the tilt sensor limits maneuverability of the helicopter. The embedded vision system has proven to give very good results in its performance of a number of realtime robotic vision algorithms.

关键词： field programmable gate arrays (FPGA) robot vision unmanned helicopter attitude control

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A comparison of two and three dimensional imaging

A comparison of two and three dimensional imaging

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Hall, Ernest Rosselot, Donald Aull, Mark Balapa, Manohar Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819464821

Three dimensional visual recognition and measurement are important in many machine vision applications. In some cases, a stationary camera base is used and a three-dimensional model will permit the measurement of depth information from a scene. One important special case is stereo vision for human visualization or measurements. In cases in which the camera base is also in motion, a seven dimensional model may be used. Such is the case for navigation of an autonomous mobile robot. The purpose of this paper is to provide a computational view and introduction of three methods to three-dimensional vision. Models are presented for each situation and example computations and images are presented. The significance of this work is that it shows that various methods based on three-dimensional vision may be used for solving two and three dimensional vision problems. We hope this work will be slightly iconoclastic but also inspirational by encouraging further research in optical engineering.

关键词： three dimensional vision stereo imaging human visualization perspective projective model

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Emerging directions in human-robotic space exploration technologies - remote operation of complex systems - art. no. 638402

Emerging directions in human-robotic space exploration techn...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Schenker, Paul S. CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819464821

Through the vision for Space Exploration-hence vision-announced by George W. Bush in February 2004, NASA has been chartered to conduct progressively staged human-robotic (H/R) exploration of the Solar System. This exploration includes autonomous robotic precursors that will pave the way for a later durable H/R presence first at the Moon, then Mars and beyond. We discuss operations architectures and integrafive technologies that are expected to enable these new classes of space rnissions, with an emphasis on open design issues and R&D challenges.

关键词： space robotics telerobotics mobile robots human-robot interfaces mission operations lunar exploration

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intelligent robot control using an adaptive critic with a task control center and dynamic database

Intelligent robot control using an adaptive critic with a ta...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Hall, E. L. Ghaffari, M. Liao, X. Ali, S. M. Alhaj Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Zarqa Jordan

ISBN: (纸本)0819464821

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

关键词： intelligent robots adaptive control creative control reinforcement learning adaptive critic

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Biomimetic sensory abstraction using hierarchical quilted self-organizing maps

Biomimetic sensory abstraction using hierarchical quilted se...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Miller, Jeffrey W. Lommel, Peter H. Draper Lab 555 Technol Sq Cambridge MA 02139 USA

ISBN: (纸本)0819464821

We present an approach for abstracting invariant classifications of spatiotemporal patterns presented in a high-dimensionality input stream, and apply an early proof-of-concept to shift and scale invariant shape recognition. A model called Hierarchical Quilted Self-Organizing Map (HQSOM) is developed, using recurrent self-organizing maps (RSOM) arranged in a pyramidal hierarchy, attempting to mimic the parallel/hierarchical pattern of isocortical processing in the brain. The results of experiments are presented in which the algorithm learns to classify multiple shapes, invariant to shift and scale transformations, in a very small (7 x 7 pixel) field of view.

关键词： Self-Organizing Maps (SOM) unsupervised learning pattern recognition cognitive learning image interpretation robot vision computational neuroscience biomimetic

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A new algorithm for fruit shape classification based on level set

A new algorithm for fruit shape classification based on leve...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and active vision

作者： Gui, Jiangsheng Ying, Yibin Rao, Xiuqin Zhejiang Univ Dept Biosyst Engn & Food Sci 268 Kaixuan St Hangzhou 310029 Peoples R China

ISBN: (纸本)0819464821

In this research, a new algorithm for fruit shape classification was proposed. The level set representations according to signed distance transforms were used, which are a simple, robust, rich and efficient way to represent shapes. Based on these representations, the rigid transform was adopted to align shapes within the same class, and the simplest possible criterion, the sum of square differences was considered. After align procedure, the average shape representations can easily be derived and shape classification was performed by the nearest neighbor method. Promising results were obtained on experiments showing the efficiency and accurate of our algorithm.

关键词： machine vision shape classification fruit sorting level set

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