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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431-440 订阅

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Joint probabilistic techniques for tracking objects using multiple visual cues

Joint probabilistic techniques for tracking objects using mu...

引用

IEEE International Workshop on intelligent robots and Systems (IROS)

作者： C. Rasmussen G.D. Hager Center for Computational Vision & Control Yale University New Haven CT USA

robots relying on vision as a primary sensor frequently need to track common objects such as people, cars, and tools in order to successfully perform autonomous navigation or grasping tasks. These objects may comprise many visual parts and attributes, yet image-based tracking algorithms are often keyed to only one of a target's identifying characteristics. In this paper, we present a framework for sharing information among disparate state estimation processes operating on the same underlying visual object. Well-known techniques for joint probabilistic data association are adapted to yield increased robustness when multiple trackers attuned to different visual cues are deployed simultaneously. We also formulate a measure of tracker confidence, based on distinctiveness and occlusion probability, which permits the deactivation of trackers before erroneous state estimates adversely affect the ensemble. We will discuss experiments using color-region- and snake-based tracking in tandem that demonstrate the efficacy of this approach.

关键词： Target tracking Head State estimation Filters computer vision Robustness Switches Technological innovation Current measurement Computed tomography

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Hand-eye coordination with an active camera head

Hand-eye coordination with an active camera head

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Bishay, M Peters, A Wilkes, DM Kawamura, K Rockwell Semiconductor Systems (United States) Vanderbilt Univ. (United States)

ISBN: (纸本)0819426407

Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision - active central of camera position and camera parameters - facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called Fixation Point Servoing (FPS), uses target fixation to eliminate the need for Jacobian computation. Additionally, FPS requires only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.

关键词： robotics visual servoing active vision fixation pan-tilt heads

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Splinter detection of half-cut peaches

Splinter detection of half-cut peaches

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Vizmanos, JG Fuentes, LM Gutierrez, JA Univ. de Valladolid (Spain) SIFISA (Spain)

A machine vision system has been developed to separate half cut peaches with small splinters from clean ones. The system uses the different spectral profile of both together with an ad hoc illuminating system. The sys... 详细信息

ISBN: (纸本)0819426407

关键词： machine vision real time processing peaches food industry

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Best viewpoints for active vision classification and pose estimation

Best viewpoints for active vision classification and pose es...

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Sipe, MA Casasent, D Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426407

We advance new active computer vision algorithms that classify objects and estimate their pose from intensity images. Our algorithms automatically re-position the sensor if the class or pose of an object is ambiguous in a given image and incorporate data from multiple object views in determining the final object classification A feature space trajectory (PST) in a global eigenfeature space is used to represent 3-D distorted views of an object. Assuming that an observed feature vector consists of Gaussian noise added to a point on the FST, we derive a probability density function (PDF) for the observation conditioned on the class and pose of the object. Bayesian estimation and hypothesis testing theory are then used to derive approximations to the maximum a posteriori probability pose estimate and the minimum probability of error classifier. New confidence measures for the class and pose estimates: derived using Bayes theory, determine when additional observations are required as well as where the sensor should be positioned to provide the most useful information.

关键词： active vision Bayesian estimation object recognition object representation pose estimation

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Training or inheritance in human vision? A critical test for understanding and engineering of intelligent optical systems

Training or inheritance in human vision? A critical test for...

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Lauinger, N CORRSYS GmbH (Germany)

ISBN: (纸本)0819426407

Inheritance or training in human vision? Training allows individual adaptation to environmental conditions, while genetics determine optimized constant i.e. long-term abilities. The biological engineering of the human eye needs both inheritance and training to realize its high performances. Particularly during postnatal training of an eye, adaptive freedom is necessary and available. To test the part of training it would become necessary to experimentally determine the in vivo refractive index differences between cellular nuclei and cytoplasm in retinal nuclear layers before and after birth to see if diffractive optical tuning of trichromatism in a retinal 3D-grating is synchronized with the differentiation of 3 photopigments in photopic vision or if the specialization in photochemistry depends on crystal-optical preprocessing.

关键词： human vision retina visual pigments colour vision genes in vision training in vision

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intelligent robot trends for factory automation

Intelligent robot trends for factory automation

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Hall, EL Univ. of Cincinnati (United States)

ISBN: (纸本)0819426407

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent economic and technical trends. The robotics industry now has a billion-dollar market in the U.S. and is growing. Feasibility studies are presented which also show unaudited healthy rates of return for a variety of robotic applications. Technically, the 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. However, the road from inspiration to successful application is still long and difficult, often taking decades to achieve a new product. More cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit both industry and society.

关键词： Factory automation Control systems Robot vision Robotics intelligent sensors Kinematics Motion controllers Roads Sensors

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Establishing joint goals through observation

Establishing joint goals through observation

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： VanWie, M Univ. of Rochester (United States)

ISBN: (纸本)0819426407

When interacting with intelligent agents, it is vital to understand something of their intentions. Agents' itentions provide context in spoken dialog, help to define their future plans (and thus actions), and reveal information about their beliefs. We propose a method by which agents' intentions are inferred by observing their actions. Explicit communication among agents is not permitted. The joint intentions framework(1) specifies the behaviors and obligations of agents that share in a cooperative intention. Our work focuses on the creation of such joint intentions through observation and plan recognition. The plan recognition structure uses Bayes Nets to reason from observations to actions, and Hidden Markov Models to reason from sequences of actions to intent.

关键词： intelligent agents

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Modelling the positioning accuracy of sensor-based robots

Modelling the positioning accuracy of sensor-based robots

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Jarviluoma, M Heikkila, T VTT Automation Machine Automation FIN-90571 Oulu P.O. Box 13023 Finland

ISBN: (纸本)0819426407

This paper describes a method for expressing and manipulating position and orientation uncertainty in sensor-based robotics. The goal is to formulate a computational framework where the effects of accumulating uncertainties, originating from internal and external sensors, are shown as uncertainties in tool frame positions and orientations. The described method is based on using covariance matrices of position and orientation parameters. The used orientation parameters are xyz Euler angles. There are three different forms of spatial uncertainty and uncertainty manipulation involves transformations between these forms. These transformations are done by using linearisation around nominal relations. Paper presents the basic formulas for these transformations and also three calculation examples.

关键词： spatial uncertainty intelligent robotics sensor fusion

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Navigation using self-initialising active contours.

Navigation using self-initialising active contours.

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Molloy, D Whelan, PF Vision Systems Laboratory School of Electronic Engineering Dublin City University Glasnevin Dublin 9 Ireland

ISBN: (纸本)0819426407

This paper examines a novel approach for extracting motion information to allow the autonomous navigation of an intelligent mobile robot using computer vision in a moving camera, moving object environment. The approach begins by extracting low-level scene feature information using algorithms such as the SUSAN corner and edge detector. A routine is described for converting the information obtained from these stable features to initialisation information for creating active contour models or 'snakes'. Multiple open and closed active contours are identified in an initialisation frame from this primary feature extraction. These contours are allowed to converge more closely to the features to which they are attached. These contours are then allowed to converge to the features within each frame through image sequences, with criteria for the re-initialisation of new contours when motion information in the sequence or a region becomes sparse. The information received from these contour models is then used to determine. the motion information in the scene. Reasons for this approach are outlined and justified. This theoretical approach is then applied to the practical cases of a mobile robot navigating indoor scenes. Large sections of this approach have been implemented in the Khoros environment, with new routines written for this approach. Promising results are already available and this approach is being examined to allow the extraction of depth information in the scene for assisting navigation using a form of '3-D snakes'.

关键词： corners SUSAN active contours snakes edge-linking

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MARR: active vision model

MARR: Active vision model

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Podladchikova, LN Gusakova, VI Shaposhnikov, DG Faure, A Golovan, AV Shevtsova, NA Rostov State Univ. (Russia) Univ. le Havre (France) George Mason Univ. (United States) Univ. of Maryland/College Park (United States)

ISBN: (纸本)0819426407

Earlier(13,18,19), the biologically plausible active vision,model for Multiresolutional Attentional Representation and Recognition (MARR) has been developed. The model is based on the scanpath theory of Noton and Stark(17) and provides invariant recognition of gray-level images. In the present paper, the algorithm of automatic image viewing trajectory formation in the MARR model, the results of psychophysical experiments, and possible applications of the model are considered, Algorithm of automatic Image viewing trajectory formation is based on imitation of the scanpath formed by operator Several propositions about possible mechanisms for a consecutive selection of fixation points in human visual perception inspired by computer simulation results and known psyhophysical data have been tested and confirmed in our psychophysical experiments, in particular, we have found that gaze switch may be directed (i) to a peripheral part of the vision field which contains an edge oriented orthogonally to the edge in the point of fixation, and (ii) to a peripheral part of the vision field containing crossing edges, Our experimental results have been used to optimize automatic algorithm of image viewing in the MARR model, The modified model demonstrates an ability to recognize complex real world images invariantly with respect to scale, shift, rotation, illumination conditions, and, in part, to point of view and can be used to solve some robot vision tasks.

关键词： active vision invariant recognition scanpath

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