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Stereo vision-based autonomous mobile robot

Stereo vision-based autonomous mobile robot

引用

intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Park, Changhan Kim, Sooin Paik, Joonki Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Department of Internet Information Kimpo College San 14-1 Ponae-Ri Gimpo Gyounggido 415-870 Korea Republic of

In this paper, we propose a method to give more autonomy to a mobile robot by providing vision sensors. The proposed autonomous mobile robot consists of vision, decision, and moving systems. The vision system is based on the stereo technology, which needs correspondence between a set of identical points in the left and the right images. Although mean square difference (MSD) is generally used for the measure of correspondence, it is prone to various types of error caused by: shades, color change, and repetitive texture, to name a few. To correct this error, the four-direction method, which incorporates surrounding information into correspondence measuring, can be used to improve the accuracy of correspondence. Edge of object is first extracted from the Laplacian of Gaussian (LoG) filtered image and post-treatment is performed to eliminate remaining high-frequency noise. During the process to minimize the change of edge, an adaptive threshold value is applied. The extracted edge image is then segmented based on histogram, and it precisely scans candidate blocks for accurate extraction of object. Even if the mobile robot is guaranteed to move autonomously, it has to sublate meaningless movement. To this end, the target is set up for the robot to be able to move toward the designated target and the robot is made to perceive the target by using structural information. The decision system utilizes three-dimensional (3D) distance information extracted from stereo vision and enables dynamic movement to look for a target. Experimental results show average error of 1.25% in the distance estimation, 97% recognition rate of target objects, and 2.3% collision rate with obstacles.

关键词： Mobile robots

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Development of a written music recognition system using Java and open source technologies

Development of a written music recognition system using Java...

引用

intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Loibner, Gernot Schwarzl, Andreas Kovač, Matthias Paulus, Dietmar Pölzleitner, Wolfgang Kaindorf College of Computer Information Systems Sensotech GmbH Austria

We report on the development of a software system to recognize and interpret printed music. The overall goal is to scan printed music sheets, analyze and recognize the notes, timing, and written text, and derive the all necessary information to use the computers MIDI sound system to play the music. This function is primarily useful for musicians who want to digitize printed music for editing purposes. There exist a number of commercial systems that offer such a functionality. However, on testing these systems, we were astonished on how weak they behave in their pattern recognition parts. Although we submitted very clear and rather flawless scanning input, none of these systems was able to e.g. recognize all notes, staff lines, and systems. They all require a high degree of interaction, post-processing, and editing to get a decent digital version of the hard copy material. In this paper we focus on the pattern recognition area. In a first approach we tested more or less standard methods of adaptive thresholding, blob detection, line detection, and corner detection to find the notes, staff lines, and candidate objects subject to OCR. Many of the objects on this type of material can be learned in a training phase. None of the commercial systems we saw offers the option to train special characters or unusual signatures. A second goal in this project is to use a modern software engineering platform. We were interested in how well Java and open source technologies are suitable for pattern recognition and machine vision. The scanning of music served as a case-study.

关键词： computer music

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Task-selection and task-merging for directional and vision-based sensors

Task-selection and task-merging for directional and vision-b...

引用

intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Everist, Jacob Nathan Mundhenk, T. Landauer, Chris Bellman, Kirstie University of Southern California Los Angeles CA 90089 Aerospace Corporation 2350 E. El Segundo Blvd El Segundo CA 90245-4691

Many vision research projects involve a sensor or camera doing one thing and doing it well. Fewer research projects have been done involving a sensor trying to satisfy simultaneous and conflicting tasks. Satisfying a task involves pointing the sensor in the direction demanded by the task. We seek ways to mitigate and select between competing tasks and also, if possible, merge the tasks together to be simultaneously achieved by the sensor. This would make a simple pan-tilt camera a very powerful instrument. These two approaches are task-selection and task-merging respectively. We built a simple testbed to implement our task-selection and task-merging schemes. We use a digital camera as our sensor attached to pan and tilt servos capable of pointing the sensor in different directions. We use three different types of tasks for our research: target tracking, surveillance coverage, and initiative. Target tracking is the task of following a target with a known set of features. Surveillance coverage is the task of ensuring that all areas of the space are routinely scanned by the sensor. Initiative is the task of focusing on new things of potential interest should they appear in the course of other activities. Given these heterogeneous task descriptions, we achieve task-selection by assigning priority functions to each task and letting the camera select among the tasks to service. To achieve task-merging, we introduce a concept called "task maps" that represent the regions of space the tasks wish to attend with the sensor. We then merge the task maps and select a region to attend that will satisfy multiple tasks at the same time if possible.

关键词： Image sensors

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The 13th annual intelligent ground vehicle competition: intelligent ground vehicles created by intelligent teams

The 13th annual intelligent ground vehicle competition: Inte...

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intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Theisen, Bernard L. U.S. Army Tank Automotive Research Development and Engineering Center 6501 E. Eleven Mile Road Warren MI 48397-5000

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 13 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

关键词： intelligent robots

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Distributed biologically based real time tracking in the absence of prior target information

Distributed biologically based real time tracking in the abs...

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intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Mundhenk, T.Nathan Everist, Jacob Landauer, Chris Itti, Laurent Bellman, Kirstie Computer Science Department Henry Salvatori Computer Science Center University of Southern California Los Angeles CA 90089-0781 Neuroscience Program Hedco Neuroscience Building University of Southern California Los Angeles CA 90089-2520 Aerospace Integration Science Center Aerospace Corporation 2350 E. El Segundo Blvd El Segundo CA 90245-4691 University of Southern California HNB 10 3641 Watt Way Los Angeles Ca 90089-2520

We are developing a distributed system for the tracking of people and objects in complex scenes and environments using biologically based algorithms. An important component of such a system is its ability to track targets from multiple cameras at multiple viewpoints. As such, our system must be able to extract and analyze the features of targets in a manner that is sufficiently invariant of viewpoints, so that they can share information about targets, for purposes such as tracking. Since biological organisms are able to describe targets to one another from very different visual perspectives, by discovering the mechanisms by which they understand objects, it is hoped such abilities can be imparted on a system of distributed agents with many camera viewpoints. Our current methodology draws from work on saliency and center surround competition among visual components that allows for real time location of targets without the need for prior information about the targets visual features. For instance, gestalt principles of color opponencies, continuity and motion form a basis to locate targets in a logical manner. From this, targets can be located and tracked relatively reliably for short periods. Features can then be extracted from salient targets allowing for a signature to be stored which describes the basic visual features of a target. This signature can then be used to share target information with other cameras, at other viewpoints, or may be used to create the prior information needed for other types of trackers. Here we discuss such a system, which, without the need for prior target feature information, extracts salient features from a scene, binds them and uses the bound features as a set for understanding trackable objects.

关键词： Tracking (position)

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Face recognition with illumination and pose variations using MINACE filters

Face recognition with illumination and pose variations using...

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intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Casasent, David Patnaik, Rohit Dept. of Electrical and Computer Engineering Carnegie Mellon Univ. Pittsburgh PA 15213

This paper presents the status of our present CMU face recognition work. We first present a face recognition system that functions in the presence of illumination variations. We then present initial results when pose variations are also considered. A separate minimum noise and correlation energy (MINACE) filter is synthesized for each person. Our concern is face identification and impostor (non-database face) rejection. Most prior face identification did not address impostor rejection. We also present results for face verification with impostor rejection. The MINACE parameter c trades-off distortion-tolerance (recognition) versus discrimination (impostor rejection) performance. We use an automated filter-synthesis algorithm to select c and to synthesize the MINACE filter for each person using a training set of images of that person and a validation set of a few faces of other persons;this synthesis ensures both good recognition and impostor rejection performance. No impostor data is present in the training or validation sets. The peak-to-correlation energy ratio (PCE) metric is used as the match-score in both the filter-synthesis and test stages and we show that it is better than use of the correlation peak value. We use circular correlations in filter synthesis and in tests, since such filters require one-fourth the storage space and similarly fewer on-line correlation calculations compared to the use of linear correlation filters. All training set images are registered (aligned) using the coordinates of several facial landmarks to remove scale variations and tilt bias. We also discuss the proper handling of pose variations by either pose estimation or by transforming the test input to all reference poses. Our face recognition system is evaluated using images from the CMU Pose, Illumination, and Expression (PIE) database. The same set of MINACE filters and impostor faces are used to evaluate the performance of the face identification and verification systems. Disto

关键词： Optical filters

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Software design for an autonomous ground vehicle for the 13th annual intelligent ground vehicle competition

Software design for an autonomous ground vehicle for the 13t...

引用

intelligent robots and computer vision XXIII: algorithms, techniques, and Active vision

作者： Roberts, Tim Barber, Daniel Becker, Brian C. Gonzalez, Fernando Robotics Laboratory University of Central Florida 3100 Technology Pkwy Orlando FL 32826 United States

This paper presents the vision and path planning software design of a totally autonomous vehicle built to compete in the 13th intelligent Ground Vehicle Competition, IGVC. The vehicle, Calculon, is based on a powered wheelchair and uses a variety of sensors for its navigation and obstacle avoidance including a 3CCD Sony color camera, an outdoor laser range finder, a DGPS, 2 wheel encoders and a solid state compass. The modules forming the core vision system include: filters, color classifier, image segments, and line finder. Our color classifier is based on a modified implementation of an adaptive Gaussian color model similar to those used in some skin detection algorithms. A combination of various image enhancing filters and the color classifier allow for the isolation of possible obstacles within the image. After filtering the image for areas of high brightness and contrast, the line finder performs a Hough Transform to find lines in the image. Our path planning is accomplished using a variety of known and custom algorithms in combination including a modified road map method, a Rapidly Exploring Trees method and a Gaussian Potential Field's method. This paper will present the software design and methods of our autonomous vehicle focusing mainly on the 2 most difficult components, the vision and path planning.

关键词： Ground vehicles

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The effect of spatial resolution reduction techniques on the temporal properties of video sequences

The effect of spatial resolution reduction techniques on the...

引用

2005 IEEE/RSJ International Conference on intelligent robots and Systems

作者： K. Saitwal A.A. Maciejewski R.G. Roberts Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA Department of Electrical and Computer Engineering Florida A&M University-Florida State University Tallahassee FL USA

Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computer vision and robotics applications. The left singular vectors represent the eigenimages, while the right singular vectors represent the temporal properties of the video sequence. It is obvious that spatial reduction techniques affect the left singular vectors; however, the extent of their effect on the right singular vectors is not clear. Understanding how the right singular vectors are affected is important because many SVD algorithms rely on computing them as an intermediate step to computing the eigenimages. The work presented here quantifies the effects of different spatial resolution reduction techniques on the right singular vectors that are computed from those video sequences. Examples show that using random sampling for spatial resolution reduction rather than a low-pass filtering technique results in less perturbation of the temporal properties.

关键词： Spatial resolution Video sequences Frequency computer vision Robot vision systems Application software Face detection Collaborative work Government Image resolution

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Advanced remote operation of swarms of robots

Advanced remote operation of swarms of robots

引用

Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Tikanmäki, A Röning, J Univ Oulu Intelligent Syst Grp Oulu 90014 Finland

ISBN: (纸本)081945561X

This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots can be either simulated or real physical robots. In addition to direct control of the robots, the user interface part of the tool can be used to develop robot behaviours using plug-ins made with Java or our graphical state machine editor. The development and testing of behaviours can be facilitated by using methods tested with the supporting simulation features of the tool before controlling real robots.

关键词： swarm of robots remote operation behaviours markers

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Navigation by cooperating mobile robots

Navigation by cooperating mobile robots

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Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Schilling, KJ Julius Maximilians Univ Wurzburg Wurzburg Germany

ISBN: (纸本)081945561X

Cooperation between several mobile robots enables to address more complex tasks or to provide more robust performance. Navigation and localisation forms the basis for the coordination and autonomous behaviours of teams of mobile robots. Therefore analyses of the kinematics and of the sensor field of view for the different vehicles are summarized in order to characterize robust formations during movements. In this approach optimized robot formations with respect to the given sensor configurations are maintained by the control system during the joint motion towards the target. The application of this method for guidance by a navigator and for cooperative manipulation tasks is discussed and tested with mobile robot hardware.

关键词： navigation mobile robots robot cooperation sensor data fusion path planning control ranging sensors

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