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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391-400 订阅

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Predictive optical flow algorithm for aircraft detection

Predictive optical flow algorithm for aircraft detection

引用

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

作者： McCandless, Jeffrey W. Ahumada Jr., Albert J. NASA Ames Research Cent Moffett Field United States

A computer vision algorithm was developed to detect moving aircraft located in video images. Using a gradient-based approach, the algorithm computes optical flow vectors in each frame of the sequence. Vectors with similar characteristics (location, magnitude, and direction) are clustered together using a spatial consistency test. Vectors that pass the spatial consistency test are extended temporally to make predictions about the optical flow locations, magnitudes, and directions in subsequent frames. The actual optical flow vectors that are consistent with the predicted vectors are labeled as vectors associated with a moving target. The algorithm was tested on images obtained with a video camera mounted below the nose of a Boeing 737. The algorithm correctly detected an aircraft from a distance of one mile in over 80% of the frames with zero false alarms.

关键词： computer vision

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Path planning for mobile robot using sonar map and neural network

Path planning for mobile robot using sonar map and neural ne...

引用

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

作者： Cao, Jin Chiang, Wen-chuan Mundhenk, T.Nathan Halls, Ernest L. Univ of Cincinnati Cincinnati United States

The purpose of this paper is to present a new approach for path planing of a mobile robot in static outdoor environments. A simple sensor model is developed for fast acquisition of environment information. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers with a rotating motor. Using sonar readings and environment knowledge, a local map based on weight evaluation function is built for the robot path planing. The path planner finds the local optimal path using the A* search algorithm. The robot is trained to learn a goal-directed task under adequate supervision. The simulation experiments show that a robot, utilizing our neural network scheme, can learn tasks of obstacle avoidance in the work space of a certain geometrical complexity. The result shows that the proposed algorithm can be efficiently implemented in an outdoor environment.

关键词： Mobile robots

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Fast 3D object reconstruction using trinocular vision and structured light

Fast 3D object reconstruction using trinocular vision and st...

引用

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

作者： Hamdan, H.M. Hemayed, E.E. Farag, A.A. Univ of Louisville Louisville United States

For faithful 3-D reconstruction of objects with smooth surfaces, stereo vision techniques rely heavily on the surface texture. However, most of the real life objects lack this feature. To `sharpen' the textural content of visual surfaces, a structured-light sensing configuration has been used. This technique can be used to enhance the features used in solving the correspondence problem in computational stereo vision. A light pattern is projected to encode the smooth surface of the object. The observed light pattern is then used to compute surface properties. We present a simple design for a trinocular vision system with structured light using off-the-shelf components. The processing pipeline of the system consists of four stages. First, the light pattern is detected in the captured images. Second, the pattern is skeletonized using connected component labeling. Third, a maximum-weighted bipartite technique is used to do the matching. Finally, a global surface fitting technique is used to integrate the reconstruction from different views in one frame and fit a mesh of triangles to the integrated data. Results using real images are promising. The advantages of this system lie in its design simplicity, low cost and the potential for fast and parallel implementation.

关键词： computer vision

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Range detection for AGV using a rotating sonar sensor

Range detection for AGV using a rotating sonar sensor

引用

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

作者： Chiang, Wen-chuan Ramamurthy, Dhyana Chandra Mundhenk, T.Nathan Hall, Ernest L. Univ of Cincinnati Cincinnati OH United States

A single rotating sonar element is used with a restricted angle of sweep to obtain readings to develop a range map for the unobstructed path of an autonomous guided vehicle (AGV). A Polaroid ultrasound transducer element is mounted on a micromotor with an encoder feedback. The motion of this motor is controlled using a Galil DMC 1000 motion control board. The encoder is interfaced with the DMC 1000 board using an intermediate IMC 1100 break-out board. By adjusting the parameters of the Polaroid element, it is possible to obtain range readings at known angles with respect to the center of the robot. The readings are mapped to obtain a range map of the unobstructed path in front of the robot. The idea can be extended to a 360 degree mapping by changing the assembly level programming on the Galil Motion control board. Such a system would be compact and reliable over a range of environments and AGV applications.

关键词： computer vision

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Method searching an optimal lighting: Application to defect detection by artificial vision in industrial field

Method searching an optimal lighting: Application to defect ...

引用

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

作者： Geveaux, P. Kohler, S. Miteran, J. Truchetet, F. Le2i Lab-Universite de Bourgogne Le Creusot France

Quality control in industrial application has greatly benefited from the development of tools like artificial vision. In order to obtain a good quality image of the object under investigation, the first step is to use a good lighting system. This paper presents a reliable method which allows to compare several lighting with respect to their capabilities of bringing out defects. This study has been led on textured industrial parts on which four types of defects have to be detected: smooth surfaces, bumps, lacks of material and hollows knocked surfaces. The aim is to determine the best lighting among various experimental sets. This method has two stages: the first one is a definition, according to the knowledge and the shape of the defects, of a pertinent attribute vector which components are defect sensitive. In the second step, discrimination power property of this vector is computed and compared under various illumination using Parzen's kernel. This method insures a well-suited illumination in numerous applications in defects detection and leads to an efficient set of lighting system and segmentation's parameters. Work is under way to generalize this method to multidimensional cases in order to allow interactions between components of the attribute vector.

关键词： computer vision

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Active vision System integrating fast and slow processes

Active Vision System integrating fast and slow processes

引用

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

作者： Castrillon-Santana, M. Guerra-Artal, C. Hernadez-Sosa, J. Dominguez-Brito, A. Isern-Gonzalez, J. Cabrera-Gamez, J. Hernadez-Tejera, F.M. Universidad de Las Palmas de Gran Canaria Spain

The paper describes an Active vision System whose design assumes a distinction between fast or reactive and slow or background processes. Fast processes need to operate in cycles with critical timeouts that may affect system stability. While slow processes, though necessary, do not compromise system stability if its execution is delayed. Based on this simple taxonomy, a control architecture has been proposed and a prototype implemented that is able to track people in real-time with a robotic head while trying to identify the target. In this system, the tracking module is considered as the reactive part of the system while person identification is considered a background task. This demonstrator has been developed using a new generation DSP (TMS320C80) as a specialized coprocessor to deal with fast processes, and a commercial robotic head with a dedicated DSP-based motor controller. These subsystems are hosted by a standard Pentium-Pro PC running Windows NT where slow processes are executed. The flexibility achieved in the design phase and the preliminary results obtained so far seem to validate the approach followed to integrate time-critical and slow tasks on a heterogeneous hardware platform.

关键词： computer vision

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New planetary rovers for long range Mars science and sample return

New planetary rovers for long range Mars science and sample ...

引用

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

作者： Schenker, P.S. Baumgartner, E.T. Lindemann, R.A. Aghazarian, H. Zhu, D.Q. Ganino, A.J. Sword, L.F. Garrett, M.S. Kennedy, B.A. Hickey, G.S. Lai, A.S. Matthies, L.H. California Inst of Technology Pasadena United States

Two new planetary rovers, the SRR-1 (Sample Return Rover) and the FIDO (Field Integrated Design & Operations) rover, have been developed to support future planned science missions of the Mars Surveyor Program. SRR-1 is a 10-kg 4-wheel hybrid composite-metal vehicle for rapid autonomous location, rendezvous and retrieval of collected samples under integrated visual and beacon guidance. It is 88×55×36 cm3 in dimensions, collapsing to less than a third of its deployable field volume, and carrying a powerful visually-servoed manipulator. FIDO, on the other hand, is a high-mobility, multi-km range science vehicle of over 50 kg and about approximately 100×80×50 cm3. It includes a robot arm with attached microscope and body-mounted rock sampling corer.

关键词： Mobile robots

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vision-based approach for learning an elementary navigation behavior

Vision-based approach for learning an elementary navigation ...

引用

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

作者： D'Orazio, T. Cicirelli, G. Distante, C. Istituto Elaborazione Segnali ed Immagini - C.N.R. Bari Italy

Developing elementary behavior is the starting point for the realization of complex systems. We present a learning algorithm that realizes a simple goal-reaching behavior for an autonomous vehicle when no a-priori knowledge of the environment is provided. Information coming from a visual sensor is used to detect a general state of the system. To each state an optimal action is associated using a Q-learning algorithm. As sets of states and actions are limited, a few training trials are sufficient in simulation to learn the optimal policy. During test trials (both in simulated and real environment) fuzzy sets with membership functions are introduced to compute the state of the system and the proper action at the extent of tackling errors in state estimation due to noise in vision measures. Experimental results both in simulated and real environment are shown.

关键词： Robotics

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Diffraction of light by 3D hexagonal phase gratings: Applications for robotic color vision

Diffraction of light by 3D hexagonal phase gratings: Applica...

引用

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

作者： Carbon, Margarita A. Boeing Co Canoga Park CA United States

Diffraction of light by 3D phase grating layers could be effectively used for color image processing in robotic vision. Gratings with hexagonal close-packed structures have the maximum amount of cells per volume unit, which leads to an advantage for color image processing. Using the 4D spectral method, we solve the wave equation for diffraction of light by a 3D hexagonal phase grating layer of spherical particles. Both ABCA and ABAB structures are considered. Distribution of diffracted light intensity is calculated in the Fraunhofer and Fresnel diffraction zones. For particular gating distances, the incident white light diffracts in three spatially separated maximums with the central wavelengths corresponding to the three primary colors. The wavelength dependence of diffracted light intensity, for incident white light, is calculated for the three maximums. In general case, by using these three primary curves one can reconstruct the color of incident light from corresponding values of light intensities measured in the three diffracted maximums. The conditions for self-imaging of 3D grating layers are formulated and investigated. Intensity distributions for diffracted light in planes of positive and negative self-imaging, and in a plane of lowest contrast are computed.

关键词： Robotics

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Design of large-window binary filters via iteration

Design of large-window binary filters via iteration

引用

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

作者： Hirata, Nina S.T. Dougherty, Edward R. Barrera, Junior Universidade de Sao Paulo Sao Paulo Brazil

Rather than design an optimal filter over a large window, which may be computationally impossible or require unacceptable computation time, one can design an iterative filter, each stage of which is designed over a small window with acceptable design time. Theoretically, a two-stage iterative filter with each stage optimally designed over a window is suboptimal in comparison to the optimal filter over the larger window formed as the dilation of the small window with itself. In practice, however, filters are designed from realizations and lack of precision for design over a large window can result in a directly estimated optimal filter over a large window that performs worse than an iteratively designed filter. Using image-noise models, this paper considers three cases: (1) the designed filters are good estimates of the theoretically optimal filters, the two-stage iterative filter is close to optimal, and as further iterations are considered for both the small and large windows, the performance difference becomes small;(2) the designed filter over the large window is a poor estimate of the theoretically optimal filter and the iteratively designed filter outperforms the directly designed filter;(3) iteration cannot do well because the iteration window is too small for the image-noise model. We will see that, while in terms of logic there may be a significant difference between a noniterative and an approximating iterative filter, their probabilistic difference as operators on random processes can be negligible.

关键词： computer vision

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