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

共 723 条记录，以下是241-250 订阅

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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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Proceedings of SPIE: intelligent robots and computer vision XXII: algorithms, techniques, and active vision

Proceedings of SPIE: Intelligent Robots and Computer Vision ...

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Intellignt robots and computer vision XXII: algorithms, techniques, and active vision

The proceedings contain 38 papers from the Proceedings of SPIE: intelligent robots and computer vision XXII: algorithms, techniques, and active vision. The topics discussed include: advances in learning for intelligent mobile robots;advanced remote operation of swarms of robots;a method for integrating vision and laser range measurements in autonomous ground robotic vehicles;calculation of the shortest-time path for traversal of an obstacle course by a robot;autonomous robot vision software design using Matlab toolboxes;visual terrain mapping for traversable path planning of mobile robots;segmentation algorithm for objects with very low edge contrast;and Bayesian stereo: 3D vision designed for sensor fusion.

关键词： intelligent robots

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Control algorithms for active relative motion cancelling for robotic assisted off-pump coronary artery bypass graft surgery

Control algorithms for active relative motion cancelling for...

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International Conference on Advanced Robotics (ICAR)

作者： M.C. Cavusoglu J. Rotella W.S. Newman Sangeun Choi J. Ustin S.S. Sastry Department of Electrical Engineering and Computer Science Case Western Reserve University Cleveland OH USA School of Medicine Emory University Atlanta GA USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

Use of intelligent robotic tools promises an alternative and superior way of performing off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted surgical paradigm proposed, the conventional surgical tools are replaced with robotic instruments which are under direct control of the surgeon through teleoperation. The robotic tools actively cancel the relative motion between the surgical instruments and the point-of-interest on the beating heart, in contrast to traditional off-pump CABG where the heart is passively constrained to dampen the beating motion. As a result, the surgeon operates on the heart as if it were stationary. We call the proposed algorithm "active relative motion cancelling (ARMC)" to emphasize the active cancellation. In the paper, a model-based intelligent ARMC algorithm is proposed to achieve effective motion cancellation. This is followed by an analysis of local motion of the heart collected using a sonomicrometry system to determine the specifications for ARMC system. Finally, the experimental results of the algorithm implemented on two 1-DOF robotic test-bed systems are reported

关键词： Motion control Arteries Surgery Heart Surgical instruments Surges intelligent robots Tracking Robot vision systems Cameras

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Advanced remote operation of swarms of robots

Advanced remote operation of swarms of robots

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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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Human-robotic exploration of space and enabling technologies

Human-robotic exploration of space and enabling technologies

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

作者： Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)081945561X

Following on recent robotic exploration of Mars by twin Exploration Rovers (MER), the National Aeronautics and Space Administration (NASA) is now moving into a new program of human-robotic (H-R) exploration. This "National Space vision" was introduced in January 2004 by the US White House. The range of such exploration spans the inner planets and Earth moon, to outer planets, their moons and small bodies. Applicable systems and technologies include autonomous mobile robots operating on-and-near solar system bodies, telerobotic servicers, and ultimately, H-R work crews operating at lower and higher gravitational libration points as well as sustaining outposts on lunar and planetary bodies. In this invited talk, we give a brief technical perspective on the evolution from robotic to H-R space exploration.

关键词： space robotics space exploration mobile robots telerobotics human-robotic systems intelligent robots

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Diffractive-optical correlators: chances to make optical image pre-processing as intelligent as human vision.

Diffractive-optical correlators: chances to make optical ima...

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

作者： Lauinger, N Corrsys Datron Sensorsysteme GmbH (Germany)

ISBN: (纸本)081945561X

The human eye is a good model for the engineering of optical correlators. Three prominent intelligent functionalities in human vision could in the near future become realized by a new diffractive-optical hardware design of optical imaging sensors: Illuminant-adaptive RGB-based Color vision, Monocular 3D vision based on RGB data processing, Patchwise fourier-optical Object-Classification and Identification. The hardware design of the human eye (Fig. 1) has specific diffractive-optical elements (DOE's) in aperture and in image space and seems to execute the three jobs at - or not far behind - the loci of the images of objects.

关键词： RGB color model Eye Cones 3D image processing Diffraction gratings 3D vision Modulators Human vision and color perception Near field optics Optical correlators

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Processing real-time stereo video for an autonomous robot using disparity maps and sensor fusion

Processing real-time stereo video for an autonomous robot us...

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

作者： Rosselot, D Hall, EL Univ Cincinnati Ctr Robot Res Dept Mech Ind & Nucl Engn Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

The Bearcat "Cub" Robot is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in unstructured environments. Recent advances in computer stereo vision algorithms that produce quality disparity and the availability of low cost high speed camera systems have simplified many of tasks associated with robot navigation and obstacle avoidance using stereo vision. Leveraging these benefits, this paper describes a novel method for autonomous navigation and obstacle avoidance currently being implemented on the UC Bearcat Robot. The core of this approach is the synthesis of multiple sources of real-time data including stereo image disparity maps, tilt sensor data, and LADAR data with standard contour, edge, color, and line detection methods to provide robust and intelligent obstacle avoidance. An algorithm is presented with Matlab code to process the disparity maps to rapidly produce obstacle size and location information in a simple format, and features cancellation of noise and correction for pitch and roll. The vision and control computers are clustered with the Parallel Virtual Machine (PVM) software. The significance of this work is in presenting the methods needed for real time navigation and obstacle avoidance for intelligent autonomous robots.

关键词： autonomous robot stereo vision disparity map sensor fusion parallel computing

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Advances in learning for intelligent mobile robots

Advances in learning for intelligent mobile robots

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

作者： Hall, EL Ghaffari, M Liao, XS Ali, SMA Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful applications in medicine, defense, industry and even the home so that the design of such machines is a challenge with great potential rewards. Even though intelligent systems may have symbiotic closure that permits them to make a decision or take an action without external inputs, sensors such as vision permit sensing of the environment and permit precise adaptation to changes. Sensing and adaptation define a reactive system. However, in many applications some form of learning is also desirable or perhaps even required. A further level of intelligence called understanding may involve not only sensing, adaptation and learning but also creative, perceptual solutions involving models of not only the eyes and brain but also the mind. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots with examples of adaptive, creative and perceptual learning. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to important beneficial applications.

关键词： intelligent robots adaptive control robust control reinforcement learning adaptive critic creative control perceptual control

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Integration of image/video understanding engine into 4D/RCS architecture for intelligent perception-based behavior of robots in real-world environments

Integration of image/video understanding engine into 4D/RCS ...

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

作者： Kuvich, G Smart Computer Vision Systems (United States)

ISBN: (纸本)081945561X

To be completely successful, robots need to have reliable perceptual systems that are similar to human vision. It is hard to use geometric operations for processing of natural images. Instead, the brain builds a relational network-symbolic structure of visual scene, using different clues to set up the relational order of surfaces and objects with respect to the observer and to each other. Feature, symbol, and predicate are equivalent in the biologically inspired Network-Symbolic systems. A linking mechanism binds these features/symbols into coherent structures, and image converts from a "raster" into a "vector" representation. View-based object recognition is a hard problem for traditional algorithms that directly match a primary view of an object to a model. In Network-Symbolic Models, the derived structure, not the primary view, is a subject for recognition. Such recognition is not affected by local changes and appearances of the object as seen from a set of similar views. Once built, the model of visual scene changes slower then local information in the visual buffer. It allows for disambiguating visual information and effective control of actions and navigation via incremental relational changes in visual buffer. Network-Symbolic models can be seamlessly integrated into the NIST 4D/RCS architecture and better interpret images/video for situation awareness, target recognition, navigation and actions.

关键词： image video understanding network symbolic systems active vision UGV 4D/RCS

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