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

共 752 条记录，以下是231-240 订阅

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Heterogeneous Multi-Robot Localization in Unknown 3D Space

Heterogeneous Multi-Robot Localization in Unknown 3D Space

引用

2006 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Yi Feng Zhigang Zhu Jizhong Xiao Department of Computer Science CUNY NY USA Department of Computer Science City College of New York NY USA

This paper presents a self-localization strategy for a team of heterogeneous mobile robots including ground mobile robots of various sizes and wall-climbing robots. These robots are equipped with various visual sensors, such as miniature webcams, omnidirectional cameras, and PTZ cameras. As the core of this work, a formation of four-robot team is constructed to operate in a 3D space, e.g., moving on ground, climbing on walls and clinging to ceilings. The four robots could dynamically localize themselves asynchronously by employing cooperative vision techniques. Three of them on the ground mutually view each other and determine their relative poses with 6 degrees of freedom (DOFs). A wall-climbing robot, which significantly extends the work space of the robot team to 3D, is at a vantage point (e.g., on the ceiling) such that it can see all the three teammates, thus determining its own location and orientation. The four-robot formation theory and algorithms are presented, and experimental results with both simulated and real image data are provided to demonstrate the feasibility of this formation. Two 3D localization and control strategies are designed for applications such as search and rescue and surveillance in 3D urban environments where robots must be deployed in a full 3D space

关键词： Orbital robotics Robot kinematics Mobile robots Robot sensing systems Robot vision systems Cameras Service robots intelligent robots computer science Cities and towns

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A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System

A Delay-tolerant, Potential field-based, Network Implementat...

引用

2006 IEEE/RSJ International Conference on intelligent robots and Systems

作者： Rachana Ashok Gupta Ahmad A Masoud Mo-yuen Chow Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA Lectrical Engineering Department KFUPM Dhahran Saudi Arabia Electrical Engineering Department KFUPM Dhahran Saudi Arabia

intelligent space (iSpace) is a large scale mechatronics system. It is a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, DSP, communication, and control algorithms in a manner that suits time-sensitive applications including real-time navigation and/or obstacle avoidance. There are many challenges that must be overcome in order to put such a distributed, heterogeneous system together. This paper deals with one of these issues, i.e. the adverse effect of network and processing delays on the system. Here a delay-resistant sensory motor module for navigating a differential drive unmanned ground vehicle (UGV) in a cluttered environment is suggested. The module consists of an early vision edge detection stage, a harmonic potential field (HPF) planner, a network based quadratic curve fitting controller and gain schedule middleware, (GSM). Though the different techniques used to implement the navigation system have been well-studied as independent modules, the contribution in this paper is the way all these different modules are integrated together for the first time to create an efficient structure for a network based integrated navigation system. The structure of this module and its components are described. Thorough experimental results along with performance assessment comparing the suggested structure to a previous implementation of iSpace are also provided

关键词： Navigation intelligent sensors Delay systems intelligent systems intelligent actuators Large-scale systems Mechatronics Digital signal processing Communication system control Delay effects

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Stereo Analysis Extension Based on BRDF Reciprocity

Stereo Analysis Extension Based on BRDF Reciprocity

引用

International Conference on Electronics, Communications and computers (CONIELECOMP)

作者： A. Morales-Reyes M. Arias-Estrada Optics and Electronics Computer Science Department National Institute for Astrophysics Optics and Electronics Tonantzintla Puebla Mexico

This paper presents an extension of the binocular technique which considers reciprocal reflectance of surfaces. This particular property allows to recover depth information for surfaces where others stereo techniques failed, for example, textureless and highly specular surfaces. The consideration of an arbitrary BRDF (Bidirectional Reflectance Distribution Function) improves conventional stereo algorithms, in such a way that explicit or implicit assumptions about a reflectance function are not necessary and dense depth maps are obtained. Fixed specularities and correspondence between half-occluded regions reduce processing complexity which is an important advantage of this methodology. This paper provides a general geometry assembly to this approach extending its applicability to some specific areas where accurate depth measures are required. Several results from our implementation are shown using rendered ray-tracing stereo images.

关键词： Reflectivity Surface texture Stereo vision Lighting Rendering (computer graphics) Ray tracing intelligent robots Quality control Biomedical imaging Layout

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World map based on RFID tags for indoor mobile robots

World map based on RFID tags for indoor mobile robots

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

作者： Tsukiyama, Toshifumi School of Information Environment Tokyo Denki University Inzai Chiba 270-1382 Japan

ISBN: (纸本)0819460303

A new navigation method is described for an indoor mobile robot. The robot system is composed of a Radio Frequency Identification (RFID) tag sensor and a commercial three-wheel mobile platform with ultrasonic rangefinders. The RFID tags are used as landmarks for navigation and the topological relation map which shows the connection of scattered tags through the environment is used as course instructions to a goal. The robot automatically follows paths using the ultrasonic rangefinders until a tag is found and then refers the next movement to the topological map for a decision. Our proposed technique would be useful for real-world robotic applications such as intelligent navigation for motorized wheelchairs.

关键词： Mobile robots

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Kinematics analysis on a spherical robot

Kinematics analysis on a spherical robot

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

作者： Xiao, Ai-Ping Sun, Han-Xu Tan, Yue-Sheng Wang, Liang-Qing Hi-Tech Innovation Center Institute of Automation Chinese Academy of Sciences P.O. Box 2728 Beijing 100080 China Automation School Beijing University of Post and Telecommunications Beijing 100876 China Robot Laboratory Beihang University Beijing 10083

Spherical robot, rolling by altering its' barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the ground while it rolling. Particular attention is paid to the research of spherical robot in recent years. This paper presents a new omnidirectional bi-driver spherical robot droved by two motors that directly drive the balancer to rotate about two orthogonal axes. The spherical robot is a nonholonomic system with 3 DOF while it rolls on the ground, so the spherical presented in this paper is a nonholonomic under-actuated system, featuring omnidirectional movement, simple configuration, and so on.

关键词： robots

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Analysis of gaits for a rotating tripedal robot

Analysis of gaits for a rotating tripedal robot

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

作者： Lyons, Damian M. Pamnany, Kiran Robotics and Computer Vision Laboratory Fordham University NY 10458

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.

关键词： Biped locomotion

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Detection and localization of unexploded ordnance using small unmanned helicopters

Detection and localization of unexploded ordnance using smal...

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

作者： MacArthur, Donald Crane, Carl Center for Intelligent Machines and Robotics Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611

This paper presents the development and testing of a sensor payload for use on unmanned helicopters. This payload is designed to be used to detect and geo-position unexploded ordnance termed UXOs. This technology will be beneficial to explosive ordnance disposal personnel in their test range clearance operations. This payload is capable of gathering image, attitude, and position information during flight, and a suite of software programs was developed capable of modeling, classifying, and geo-positioning UXOs.

关键词： Ordnance

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intelligent robots that adapt, learn, and predict

Intelligent robots that adapt, learn, and predict

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

作者： Hall, E.L. Liao, X. Ghaffari, M. Alhaj Ali, S.M. Center for Robotics Research University of Cincinnati Cincinnati OH 45221-0072 United States Hashemite Univ. Jordan

The purpose of this paper is to describe the concept and architecture for an intelligent robot system that can adapt, learn and predict the future. This evolutionary approach to the design of intelligent robots is the result of several years of study on the design of intelligent machines that could adapt using computer vision or other sensory inputs, learn using artificial neural networks or genetic algorithms, exhibit semiotic closure with a creative controller and perceive present situations by interpretation of visual and voice commands. This information processing would then permit the robot to predict the future and plan its actions accordingly. In this paper we show that the capability to adapt, and learn naturally leads to the ability to predict the future state of the environment which is just another form of semiotic closure. That is, predicting a future state without knowledge of the future is similar to making a present action without knowledge of the present state. The theory will be illustrated by considering the situation of guiding a mobile robot through an unstructured environment for a rescue operation. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots.

关键词： intelligent robots

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4D-RGB diffractive-optical correlator in the human eye: The hardware for a hierarchy of spectral space-time transformations in color vision

4D-RGB diffractive-optical correlator in the human eye: The ...

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

作者： Lauinger, N. CORRSYS-DATRON Sensorsysteme GmbH Wetzlar Germany

3D space and time in optics and in human vision are linked together in spectral diffractive-optical transformations of the visible world. A 4D-RGB correlator hardware - integrated in an optical imaging system like the human eye - processes a hierarchy of relativistic equilibrium states and a sequence of double-cone transformations. The full chain of light-like events ends in von Laue interference maxima in reciprocal space, where 4D-RGB signals are miniaturized down to the level of individual photoreceptors. The diffractive-optical correlator relates local information to global data in the visual field and illustrates the potential of future development of cameras towards more intelligent 4D optical sensors.

关键词： Color vision

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Scene understanding and intelligent tactical behavior of mobile robots with perception system based on Network-Symbolic Models

Scene understanding and intelligent tactical behavior of mob...

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

作者： Kuvich, Gary Smart Computer Vision Systems

intelligent tactical behaviors of robots and UGVs cannot be achieved without a perception system that is similar to human vision. The traditional linear bottom-up "segmentation-grouping-learning-recognition" approach to image processing and analysis cannot provide a reliable separation of an object from its background or clutter, while human vision unambiguously solves this problem. The nature of informational processes in the visual system does not allow separating from the informational processes in the top-level knowledge system. An Image/Video Analysis that is based on Network-Symbolic approach is a combination of recursive hierarchical bottom-up and top-down processes. Instead of precise computations of 3-dimensional models a Network-Symbolic system converts image information into an "understandable" Network-Symbolic format that is similar to the relational knowledge models. The logic of visual scenes can be captured in the Network-Symbolic models and used for the reliable disambiguation of visual information, including object detection and identification. View-based object recognition is a hard problem for traditional algorithms that directly match a primary view of an object to a model. In Network-Symbolic Models, the derived structure and not the primary view is a subject for recognition. Such recognition is not affected by local changes and appearances of the object from a set of similar views, and a robot can better interpret images and video for intelligent tactical behavior.

关键词： Mobile robots

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