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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361-370 订阅

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Motion control design of the BEARCAT II mobile robot

Motion control design of the BEARCAT II mobile robot

引用

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

作者： Cao, M Liao, XQ Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819434302

Motion control is one of the most critical factors in the design of a robot. The purpose of this paper is to describe the research for applying motion control principles for a mobile robot systems design, which is on going at the University of Cincinnati Robotics Center. The mobile robot was constructed during the 1998-1999 academic year, and called BEARCAT II. Its design has inherited many features of its predecessor, BEARCAT I, such as vision guidance, sonar detection and digital control. In addition, BEARCAT II achieved many innovative motion control features as rotating sonar, zero turning radius (ZTR), current control loop, and multi-level controller design (conventional control and fuzzy logic control). This paper will focus on the motion control design, development and programming for the vehicle steering control and rotating sonar systems. The systems have been constructed and tested at the 1999 International Ground Robotics Competition with the Bearcat II running an obstacle course for 153.5 feet and finishing fourth in the competition. The significance of this work is in the increased understanding of robot control and the potential application of autonomous guided vehicle technology for industry, defense and medicine. Keywords: Motion control, motion behavior, compensation, mobile robots.

关键词： Control systems Motion controllers Amplifiers computer programming Mobile robots Robotics Safety Vehicle control Control systems design Fuzzy logic

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Derivative structures - a step toward knowledge and vision engines

Derivative structures - a step toward knowledge and vision e...

引用

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

作者： Kuvychko, I Consultant (United States)

ISBN: (纸本)0819434302

This article shows how graph and diagrammatic structures could evolve into the more abstract ones that carry knowledge about the originals in form of relations and hierarchies. They can play a role of context, or "measurement device", giving the ability to analyze. Such derivative structures can drive processes in distributed networks, like firing a spatio-temporal pattern, creating another structure, etc., therefore, performing top-bottom algorithms. In the mid-80 PDP group came closely to the problem of knowledge representation by distributed graphs called "schemata". Their models were based on the neural networks. I argue that the actual level of problems that neural network can solve is lower than required for knowledge representation. The "hardware unit" of intelligence could rather be a "neural assembly'' that combines both discrete and continuous features, and is able to perform both diagrammatic and graphs operations, being the basis of intelligence. The representation of such "neural assembly" as a fuzzy logic unit with active kernel and less active fuzzy boundaries is proposed. Such units can make logical operations spatially and temporarily, acting on a diagrammatic manner. Connections between the set of such activated units make spatio-temporal pattern really looking like a set of nodes connected via links on more abstract level. The article shows that image understanding is the area where derivative structures play important role, making images and scenes self-describing without any word description, and truly invariant to any transformations. That opens way to the new technologies in computer vision and image databases.

关键词： image understanding generic knowledge representation derivative structures knowledge & vision engines

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Interacting with personal robots and smart environments

Interacting with personal robots and smart environments

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

作者： Röning, J Kangas, K Univ Oulu Dept EE Comp Engn Lab FIN-90401 Oulu Finland

ISBN: (纸本)0819434302

In the future, interaction between humans and personal robots will become increasingly important as robots will, more and more, operate as assistants in our everyday life. Because of this, there is a need for a convenient, flexible, and general-purpose technique that we can use to interact with robots. Moreover, the same technique should also be usable when we interact with embedded systems in smart environments. In this paper, we will describe a technique that allows us to use a single simple handheld control device to interact not only with personal robots, but also with ubiquitous embedded systems. When a new system, whether a mobile robot or a VCR, is encountered, the control device downloads a mobile code from the system and executes it. The mobile code then uses the services provided by the control device to create a virtual user interface that we can use to interact with the particular system. Our technique is flexible, simple, adaptive, and open. The technique draws much of its flexibility and simplicity from the mobile code. Adaptivity comes from the fact that the control device only needs minimal knowledge about each particular system. In addition, the technique does not place any restrictions on the type of mobile code that can be used. We will describe the architecture of the CUES system that utilizes our technique. We will also describe the architecture of the SMAF system, our test bed mobile code execution environment used in CUES. In addition, we will present a virtual user interface for a mobile robot that we can use to control the robot and to monitor its status information. The interface also operates as a terminal that we can use to access remote information in the Internet.

关键词： mobile code ubiquitous computing human-computer interaction embedded systems smart environments mobile robots

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Humans, animals, robots: Handling volumic data flows

Humans, animals, robots: Handling volumic data flows

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

作者： Petrov, V FHU Lab Tech Opt & Laser Technol Ulm Germany

ISBN: (纸本)0819434302

Human visual system is properly suited for reliable and adequate volumic perception of natural environment. Volumic data flows coming from the outer physical space are easily acquired, transferred and processed by eye-brain system in real time. This relates also to the animals which use different complicated mechanisms of optical volumic data acquisition and can navigate safely at high speeds. Un the contrary machine vision systems utilizing currently the stereoscopic effect in attempt to achieve volumic data presentation are very slow, bulky and in a way inelegantly devised. The stereoscopy itself seems can hardly organize the adequate, real time volumic robot vision. Novel general principles of volumic vision were formulated recently by this author. They can be applied also to machines and used in the future rapidly navigating mobile robots. Volumic approach to vision seems much more logical for handling of volumic data flows. Along the lines of this approach and unified concept of volumic imaging it is quite natural to assume fine stratification in depth both for biological volumic data sensors and the necessity of fine stratification in depth for artificial ones. Volumic data sensors in robotics seem must be organized as finely stratified in depth structures. Finely stratified in depth volumic data sensor operating in real time might incorporate volumic gratings and use a special software to interpret the arriving volumic data flow. While the task is very difficult, success would permit to organize volumic robot vision in a different war and to create principally novel type of robotic system, ie, 'one-eyed robots'. Preliminary experiments were performed in this work. Complicated holographic gratings were obtained which might serve as components of a future volumic data sensor. Microphotographs of such gratings taken as horizontally stratified slices are presented.

关键词： human and animal vision volumic vision volumic imaging unified concept of volumic imaging stratified in depth spaces physical and hypothetical volumic spaces and their adequate presentation volumic robot vision robot-bio vision

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FST-based active object recognition for automated assembly

FST-based active object recognition for automated assembly

引用

Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Sipe, Michael A. Casasent, David Carnegie Mellon Univ Pittsburgh United States

We demonstrate the use of our active object recognition algorithms in a mechanical assembly task. The algorithms are used to classify and estimate the pose of parts of the assembly in different stable rest positions and automatically re-position the camera if the class or pose of an object is ambiguous in a given image. Multiple object views are used in determining both the final object class and pose estimate. A feature space trajectory (FST) in eigenspace is used to represent 3-D distorted views of each object. The FSTs are analyzed off-line to determine the camera positions that best resolve ambiguities. We also describe methods for rejecting untrained objects and adding new parts to an existing set of FSTs using a new feature update method.

关键词： computer vision

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Method for traffic sign detection within a picture by color identification and external shape recognition

Method for traffic sign detection within a picture by color ...

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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Falcoff, Daniel E. Canali, Luis R. Natl Technological Univ Cordoba Argentina

This work presents one method aimed to individualization and recognition of vial signs in route and city. It is based fundamentally on the identification by means of color and form of the vial sign, located in the border of the route or street in city, and then recognition. To do so the obtained RGB image is processed, carrying out diverse filtrates in the sequence of input images, or intensifying the colors of the same ones otherwise, recognizing their silhouette and then segmenting the sign and comparing the simbology of them with the previously stored and classified database.

关键词： computer vision

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Advanced biologically plausible algorithms for low-level image processing

Advanced biologically plausible algorithms for low-level ima...

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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Gusakova, Valentina I. Podladchikova, Lubov N. Shaposhnikov, Dmitry G. Markin, Sergey N. Golovan, Alexander V. Lee, Seong Whan Rostov State Univ Rosov-on-Don Russia

At present, in computer vision, the approach based on modeling the biological vision mechanisms is extensively developed. However, up to now, real world image processing has no effective solution in frameworks of both biologically inspired and conventional approaches. Evidently, new algorithms and system architectures based on advanced biological motivation should be developed for solution of computational problems related to this visual task. Basic problems that should be solved for creation of effective artificial visual system to process real world images are a search for new algorithms of low-level image processing that, in a great extent, determine system performance. In the present paper, the results of psychophysical experiments and several advanced biologically motivated algorithms for low-level processing are presented. These algorithms are based on local space-variant filter, context encoding visual information presented in the center of input window, and automatic detection of perceptually important image fragments. The core of latter algorithm (the cascade method) are using local feature conjunctions such as noncolinear oriented segment and composite feature map formation. Developed algorithms were integrated into foveal active vision model, the MARR. It is supposed that proposed algorithms may significantly improve model performance while real world image processing during memorizing, search, and recognition.

关键词： computer vision

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Nontraditional features in active vision through a turbid medium: Evaluation and optimization on the base of modern radiative transfer approaches

Nontraditional features in active vision through a turbid me...

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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Barun, Vladimir V. Ivanov, Arkady P. Belarus Natl Acad of Sciences Minsk Belarus

We present here a review of scientific theoretical researches performed during last five years at our Institute. Specific attention is paid to active optical vision systems and related effects that have not been treated earlier from a viewpoint of modern radiative transfer approaches and techniques. This is just that is meant as `nontraditional' features. All these features formed a basis for evaluating somewhat surprising, but easily physically treated properties of images provided by active vision systems operating through a turbid medium. Specific topics are: (i) effects of free backscattering pattern of coarse aerosols, such as fog or cloud droplets, on optical interference and the computational consequences of these effects;(ii) image contrast and ultimate visibility range of targets with different reflective properties and;in particular, possible improving of the visibility of a target as it is sinking into a turbid medium;(iii) imaging of non-Lambertian objects and peculiarities in their images;(iv) applications to assessing visibility quality of a car driver under poor weather conditions and some ways to optimize the visibility and to enhance the ultimate visibility range. We succeed in treating all these topics by rather simple analytical expressions requiring no sophisticated software to be dealt with.

关键词： computer vision

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Combining color and edge information to find door locations in an image

Combining color and edge information to find door locations ...

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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Wellington, Carl K. Bock, Roger A. Maxwell, Bruce A. Swarthmore Coll Swarthmore United States

A method for locating the doors in an image is presented. The method integrates an edge map with color information known about the doors to provide better results than methods based purely on color or edges. The Hough transform is used to find lines and then a set of heuristics is used to find possible door regions. The door regions are tested by determining whether the region is the correct color. The combination of color and edge data allowed the system to successfully identify doors within a complex environment at different scales, orientations, lighting conditions, and using different cameras.

关键词： computer vision

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intelligent robot trends and predictions for the new millennium

Intelligent robot trends and predictions for the new millenn...

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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and active vision

作者： Hall, Ernest L. Mundhenk, Nathan Univ of Cincinnati Cincinnati United States

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for `Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

关键词： intelligent robots

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