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

共 690 条记录，以下是311-320 订阅

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Knowledge representation and knowledge module structure for uncalibrated vision-guided robots

Knowledge representation and knowledge module structure for ...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Nguyen, MC Bui, DT Bundeswehr Univ Munich Germany

ISBN: (纸本)0819438626

A new concept for knowledge representation and structure of the knowledge module for vision-guided robots is introduced. It allows the robot to acquire, accumulate and adapt automatically whatever knowledge it may need and to gain experience in the course of its normal operation, i.e., learning by doing, thus, to improve its skills and operating speed over time. The knowledge module is structured into a set of a fairly independent submodules each performing a limited task, and sub-knowledge bases each contains limited knowledge. Such a structure allows to use the acquired knowledge flexibly and efficiently. It makes also easily to extend the knowledge base when the robot's number of degrees of freedom that must be controlled increases. The concept was realized and evaluated in real-world experiments on an uncalibrated vision-guided 5-DOF manipulator to grasp a variety of differently shaped objects.

关键词： calibration-free vision-guided robots knowledge representation knowledge-based systems robot control uncalibrated vision-guided robots

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intelligent robot trends and predictions for the first year of the new millennium

Intelligent robot trends and predictions for the first year ...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

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. In factory automation, industrial robots 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. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. 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. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

关键词： intelligenr robots mechatronics industrial robots artificial intelligence

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Video flow active control by means of adaptive shifted foveal geometries

Video flow active control by means of adaptive shifted fovea...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Urdiales, C Rodríguez, JA Bandera, A Sandoval, F Univ Malaga ETSI Telecommun Dept Elect Technol E-29071 Malaga Spain

ISBN: (纸本)0819438626

This paper presents a control mechanism for video transmission that relies on transmitting non-uniform resolution images depending on the delay of the communication channel. These images are built in an active way to keep the areas of interest of the image at the highest resolution available. In order to shift the area of high resolution over the image and to achieve a data structure easy to process by using conventional algorithms, a shifted fovea multiresolution geometry of adaptive size is used. Besides, if delays are nevertheless too high, the different areas of resolution of the image can be transmitted at different rates. A functional system has been developed for corridor surveillance with static cameras. Tests with real video images have proven that the method allows an almost constant rate of images per second as long as the channel is not collapsed.

关键词： active vision foveal images control flow motion detection

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computer vision system for an autonomous mobile robot

Computer vision system for an autonomous mobile robot

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

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

ISBN: (纸本)0819438626

The purpose of this paper is to compare three methods for three-dimensional measurements of line position used for the vision guidance to navigate an autonomous mobile robot. A model is first developed to map three dimensional ground points into image points to be developed using homogeneous coordinates. Then using the ground plane constraint, the inverse transformation that maps image points into three dimensional ground points is determined. And then the system identification problem is solved using a calibration device. Calibration data is used to determine the model parameters by minimizing the mean square error between model and calibration points. A novel simplification is then presented which provides surprisingly accurate results. This method is called the magic matrix approach and uses only the calibration data. A more standard variation of this approach is also considered. The significance of this work is that it shows that three methods that are based on three-dimensional measurements may be used for mobile robot navigation and that a simple method can achieve accuracy to a fraction of an inch which is sufficient in some applications.

关键词： autonomous mobile robot calibration navigation magic matrix

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Examples of design and achievement of vision Systems for mobile robotics applications

Examples of design and achievement of Vision Systems for mob...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Bonnin, PJ Cabaret, L Raulet, L Hugel, V Blazevic, P M'Sirdi, NK Coiffet, P Lab Robot Paris F-78140 Velizy France

ISBN: (纸本)0819438626

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications :wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions: indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory, We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9 CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a single FPGA.

关键词： vision systems robots controlled by vision hardware implementation of vision algorithms

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Survey of robot lawn mowers

Survey of robot lawn mowers

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

作者： Hicks II, Rob Warren Hall, Ernest L. Univ of Cincinnati Cincinnati United States

Lawn mowing is considered by many to be one of the most boring and tiring routine household tasks. It is also one of the most promising personal robot applications. Several devices have now been invented and some manufactured products are available for lawn mowing. The purpose of this paper is to survey the state of the art in robotic lawn mowers to highlight the requirements and capabilities of current devices. A brief survey of available robot products, typical patents and some testbed prototypes are presented. Some enabling technologies which could make the devices more capable are also suggested. Some predictions indicate that the robot lawn mower will be the breakthrough device in robotics. The significance of this research lies in the presentation of an overview of a potential major market for personal robots.

关键词： Mobile robots

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vision system and three dimensional modeling techniques for quantification of the morphology of irregular particles

Vision system and three dimensional modeling techniques for ...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Smith, LN Smith, ML Univ W England Fac Engn Bristol BS16 1QY Avon England

ISBN: (纸本)0819438626

Particulate materials undergo processing in many industries, and therefore there are significant commercial motivators for attaining improvements in the flow and packing behavior of powders. This can be achieved by modeling the effects of particle size, friction, and most importantly, particle shape or morphology. The method presented here for simulating powders employs a random number generator to construct a model of a random particle by combining a sphere with a number of smaller spheres. The resulting 3D model particle has a 'nodular' type of morphology, which is similar to that exhibited by the atomized powders that are used in the bulk of powder metallurgy (PM) manufacture. The irregularity of the model particles is dependent upon vision system data gathered from microscopic analysis of real powder particles. A methodology is proposed whereby randomly generated model particles of various sizes and irregularities can be combined in a random packing simulation. The proposed Monte Carlo technique would allow incorporation of the effects of gravity, wall friction, and inter-particle friction. The improvements in simulation realism that this method is expected to provide would prove useful for controlling powder production, and for predicting die fill behavior during the production of PM parts.

关键词： particle morphology powder simulation vision analysis

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Wearable computer for mobile augmented reality based controlling of an intelligent robot

Wearable computer for mobile augmented reality based control...

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

作者： Turunen, Tuukka Roning, Juha Ahola, Sami Pyssysalo, Tino Univ of Oulu Oulu Finland

An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal - the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

关键词： intelligent robots

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techniques for fisheye lens calibration using a minimal number of measurements

Techniques for fisheye lens calibration using a minimal numb...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Mundhenk, TN Rivett, MJ Liao, XQ Hall, EL Univ Cincinnati Ctr Robot Res Dept Mech Ind & Nucl Engn Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

A method is discussed describing how different types of Omni-Directional "fisheye" lenses can be calibrated for use in robotic vision. The technique discussed will allow for full calibration and correction of x,y pixel coordinates while only taking two uncalibrated and one calibrated measurement. These are done by finding the observed x,y coordinates of a calibration target. Any Fisheye lens that has a roughly spherical shape can have its distortion corrected with this technique, Two measurements are taken to discover the edges and centroid of the lens. These can be done automatically by the computer and does not require any knowledge about the lens or the location of the calibration target. A third measurement is then taken to discover the degree of spherical distortion, This is done by comparing the expected measurement to the measurement obtained and then plotting a curve that describes the degree of distortion. Once the degree of distortion is known and a simple curve has been fitted to the distortion shape, the equation of that distortion and the simple dimensions of the lens are plugged into an equation that remains the same for all types of lenses. The technique has the advantage of needing only one calibrated measurement to discover the type of lens bring used.

关键词： onmi vision fisheye circular regression correction distortion nikon

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Flexible workobject localization for CAD-based robotics

Flexible workobject localization for CAD-based robotics

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

作者： Sallinen, Mikko Heikkila, Tapio VTT Automation Oulu Finland

In this paper a method to locate workobjects with splined surfaces and estimate the spatial uncertainties of the estimated parameters is presented. The reference B-spline surface patch is selected from a workobject CAD-model and is defined in the form of control vertices. The process includes the hand-eye calibration of the sensor, determination of the workobject localization and surface treating, e.g. inspection. The hand-eye calibration and workobject localization are carried out using the Bayesian form estimation with sensor fusion. Use of the recursive sensor fusion method makes calibration more flexible and accurate in handling large data sets. The spatial uncertainties in the form of eigenvalues in the direction of the eigenvectors are analyzed from the error covariance matrices of the estimated parameters.

关键词： computer vision

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