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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401-410 订阅

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Stereo-based registration of LADAR and color imagery

Stereo-based registration of LADAR and color imagery

引用

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

作者： Elstrom, MD Smith, PW Abidi, MA Univ Tennessee Dept Elect Engn Imaging Robot & Intelligent Syst Lab Knoxville TN 37996 USA

ISBN: (纸本)081942983X

A major problem in the creation of multi-sensory interfaces for tele-robotics is the development of methods for combining various data sources into one coherent world model for examination by the operator. However, if the images acquired from different sensing modalities can be registered with LADAR range images, texture mapping can be employed for sensor integration. Presented in this paper is a novel stereo-based method for registering color and LADAR images acquired from externally uncalibrated sensors fbr use in a visualization system as described above. In our approach, corresponding features are first extracted from LADAR intensity/color image pairs. Since the computation of Euclidean range using stereoscopic techniques depends on knowledge of the relative sensor orientation, a downhill simplex algorithm is iteratively applied to minimize the sum-squared-error between the stereo and LADAR range estimates of the matched points with respect to the system's relative rotation and translation parameters. Once the system's epipolar geometry has been estimated in this manner, the LADAR range data is employed to re-project the color image to the viewpoint of the scanner for use as a texture map.

关键词： color image processing range imaging registration stereo 3D vision : perception processing and modeling

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Extraction of shape based properties

Extraction of shape based properties

引用

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

作者： Shirkhande, N Cent Michigan Univ Ctr Comp Vis Dept Comp Sci Mt Pleasant MI 48859 USA

ISBN: (纸本)081942983X

A model of an object is an image consisting of features of an object. The input is a gray scale image from which features are computed. In his doctoral thesis, J. L. Chen [6] used a model based approach to object recognition. His method is based on Rosin's work [15] for extraction of parts. Both model and scene features are contour based properties. The scene features are matched to the model features by indexing. The following features are computed: convexity, compactness, roundedness, skewness, and the first moment invariant tall using Rosin's algorithm). In this paper, we extend the feature description to include internal and external parts of an object. We use the interpretation tree approach for matching the scene to model, where constraints such as distances and angles between parts are used to prune the interpretation tree. We compare the efficiency of the interpretation tree approach with the indexing method on the data that was used in previous experiments by J. L. Chen.

关键词： computer vision image processing object recognition

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Quality control in tile production

Quality control in tile production

引用

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

作者： Kalviainen, H Kukkonen, S Hyvarinen, T Parkkinen, J Lappeenranta Univ Technol Dept Informat Technol FIN-53851 Lappeenranta Finland

ISBN: (纸本)081942983X

This work studies visual quality control in ceramics industry. In tile manufacturing, it is important that in each set of tiles, every single tile looks similar. For example, the tiles should have similar color and texture. Our goal is to design a machine vision system that can estimate the sufficient similarity or same appearance to the human eye. Currently, the estimation is usually done by human vision. Differing from other approaches our aim is to use accurate spectral representation of color, and we are comparing spectral features to the RGB color features. A laboratory system for color measurements is built. Experimentations with five classes of brown tiles are presented. We use chromaticity RGB features and several spectral features for classification with the k-NN classifier and with a neural network, called Self-Organizing Map (SOM). Wt: can classify many of the tiles but there are several problems that need further investigations: larger training and test sets are needed, illuminations effects must be studied further, and more suitable spectral features are needed with more sophisticated classifiers. It is also interesting to develop further the neural approach.

关键词： tiles ceramic industry quality control inspection classification color image processing multispectral images machine vision neural network

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Nonlinear features for classification and pose estimation of machined parts from single views

Nonlinear features for classification and pose estimation of...

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

作者： Talukder, A Casasent, D Carnegie Mellon Univ Lab Opt Data Proc Dept Elect & Comp Engn Pittsburgh PA 15213 USA

ISBN: (纸本)081942983X

A new nonlinear feature extraction method is presented for classification and pose estimation of objects from single views. The feature extraction method is called the maximum representation and discrimination feature (MRDF) method. The nonlinear MRDF transformations to use are obtained in closed form, and offer significant advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We consider MRDFs on image data, provide a new a-stage nonlinear MRDF solution, and show it specializes to well-known linear and nonlinear image processing transforms under certain conditions. We show the use of the MRDF in estimating the class and pose of images of rendered solid CAD models of machine parts from single views using a feature-space trajectory (FST) neural network classifier. We show new results with better classification and pose estimation accuracy than are achieved by standard principal component analysis (PCA) and Fukunaga-Koontz (FK) feature extraction methods.

关键词： active vision classification discrimination (nonlinear) feature extraction nonlinear features neural networks pose estimation principal component analysis

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Expert system approach to design an automated guided vehicle

Expert system approach to design an automated guided vehicle

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

作者： Kumaraguru, K Hall, E Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081942983X

The purpose of this paper is to describe an expert system to design the base of an automated guided vehicle. The components of the expert system include: A user-friendly graphic user input interface, where the user can enter specifications - like the environment used, application of the robot, etc.;An engine that converts the managerial requirements into technical parameters and designs the robot initially assuming some parameters and confirming its assumptions during the course of the design;when unable to do so, it iterates with different assumptions until they are met;the code also selects various materials to be used from a corresponding database;A database of various materials from their manufacturers/suppliers;The output data is interfaced with a CAD engine, which generates a 3-D solid model of the vehicle;A "Bill of Materials" file is generated as the output and suggestions for how to assemble them are given. The method has been tested by designing a small mobile robot. The software provides an excellent tool to develop a mobile robot based on performance specifications. Modeling helps the user understand the constraints on the design of the robot and the bill of materials - along with the vendor address, helps the user buy the components needed to assemble the robot.

关键词： expert system automated design solid modeling mobile robots

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Genetic feature selection for highly-accurate stereo reconstruction of natural surfaces

Genetic feature selection for highly-accurate stereo reconst...

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

作者： Paar, G Sidla, O Polzleitner, W Joanneum Res Graz Austria

ISBN: (纸本)081942983X

One approach to stereo matching is to use different local features to find correspondences. The selection of an optimum feature set is the content of this paper. An operational software tool based on the principle of comparing feature vectors is used for stereo matching. A relatively large set of different local features is sought for optimum combinations of 6-10 of them. This is done by a genetic process that uses an intrinsic quality criterion that evaluates the correctness of each individual match. The convergence of the genetic feature selection process is demonstrated on a real stereo pair of a tunnel surface. Four areas were used for individual optimization. After several hundred generations for each of the areas, it is shown that the identified feature sets result in a considerably better stereo matching result than the currently used features, which were the result of an initial manual choice. The experiments described in this paper use a "super-set" of 145 features for every pixel, which are created by filtering the image with convolution kernels (averaging, Gaussian filters, bandpass, highpass), median filters and Gabor kernels. From these 145 filters, the genetic feature selection process selects an optimal set of operators. Using the selected filters results in a 15% improvement of the matching accuracy and robustness.

关键词： stereo matching 3D reconstruction computer vision feature selection genetic algorithm

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Grating optical diffractive image pre-processing in optical sensors copying human vision (OPTORETINA)

Grating optical diffractive image pre-processing in optical ...

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

作者： Lauinger, N CORRSYS GMBH D-35578 Wetzlar Germany

ISBN: (纸本)081942983X

Three-dimensional multilayer phase gratings (nuclear layers in the human retina) of oscillating cells positioned in the image plane of a monocular optical imaging system transform tight double cones by diffraction and pulsation (quantization) into the reciprocal space behind the grating (Fourier-space in the Fresnel-nearfield). This effect we call OPTORETINA not only guarantees the transformation of the physical stimuli parameters (intensity/wavelength) in the visible spectrum into three chromatically tuned adaptive RGB-color channels (diffraction orders with Brightness-Hue-Saturation aspects) and of object. distances in 3D-space into spatial frequencies or temporal phase differences in reciprocal space (the MULTIDIST grating optical sensors developed at CORRSYS). The 3D-grating, acting as a spatiotemporal frequency and spectral filter, contributes to image pre-processing in Fourier-space. it allows patchwise Fourier-analysis in the Fresnel-nearfield based on weighted Patterson maps of centrosymmetric hexagonal multilayer gratings. Spectral/temporal modulation and spatial frequency analysis seem to be orthogonal to each other as in audition. The OPTORETINA with its cellular diffractive 3D-gratings and their power spectra illustrates a specific part of cortical 4D-spatiotemporal processing. A cortical modulator becomes relevant for temporal coincidence detection and spectral/spatiotemporal correlation in complex image processing, relating multimodal stimulus parameters to internal timing.

关键词： OPTORETINA image processing diffractive optical filtering spatiotemporal frequency analysis 3D-gratings Patterson map

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Saturation in active vision systems and its effects on tracking performance

Saturation in active vision systems and its effects on track...

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and active vision

作者： Cahn von Seelen, Ulf M. Bajcsy, Ruzena Sensar Inc Moorestown United States

Linear models are a popular tool to characterize the performance of active vision systems. They cannot, however, capture the nonlinear limits of the system performance that arise out of the physical limitations of the real system. We examine how the finite field of view and the limited motor torque impose bounds on the linear operation of an active vision system in a fixation task. We derive the bounds by analyzing a real active vision system and measuring its response to repeatable and controllable target motions generated by a robot arm. The knowledge of the operational bounds can guide us in deciding which aspects of the active vision system to improve for better overall performance.

关键词： computer vision

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computer vision system for identification, measurement, and duplication of machined parts

Computer vision system for identification, measurement, and ...

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and active vision

作者： Kromann, Roger F. Georgia Inst of Technology Atlanta GA United States

A strategy for identifying, measuring, and duplicating machined parts using an endpoint open loop (EOL) position based, visual servo robot is presented. The procedure is demonstrated using the representative, commercially important, problem of duplicating keys for automobiles. The tasks completed for this application are: identify the blank type of the original;measure the unique cut pattern;correct deviations;and grind the duplicate.

关键词： computer vision

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Adaptive fuzzy approach for modeling of operational space for autonomous mobile robots

Adaptive fuzzy approach for modeling of operational space fo...

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and active vision

作者： Musilek, Petr Gupta, Madan M. Univ of Saskatchewan Saskatoon Canada

robots operating in an unstructured environment need high level modeling of their operational space in order to plan a path from an initial position to a desired goal. A fuzzy approach to evaluate each unit region on a grid map by a certain value of transition cost is proposed. The method employs fuzzy granulation of information on various terrain features and their combination based on a fuzzy neural network.

关键词： Mobile robots

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