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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311-320 订阅

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Omni-vision based autonomous mobile robotic platform

Omni-vision based autonomous mobile robotic platform

引用

Conference on intelligent robots and computer vision XX: algorithms, techniques, and active vision

作者： Cao, ZL Hu, J Cao, J Hall, EL Tianjin Univ Technol Tianjin Peoples R China

ISBN: (纸本)081944300X

As a Laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

关键词： mobile robot omni directional vision navigation teach-and-playback image database

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Symbolic processing methods for 3D visual processing

Symbolic processing methods for 3D visual processing

引用

Conference on intelligent robots and computer vision XX: algorithms, techniques, and active vision

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

ISBN: (纸本)081944300X

The purpose of this paper is to describe a theory that defines an open method for solving 3D visual data processing and artificial intelligence problems that is independent of hardware or software implementation. The goal of the theory is to generalize and abstract the process of 3D visual processing so that the method can be applied to a wide variety of 3D visual processing problems. Once the theory is described a heuristic derivation is given. Symbolic processing methods can be generalized into an abstract model composed of eight basic components. The symbolic processing model components are: input data;input data interface;symbolic data library;symbolic data environment space;relationship matrix;symbolic logic driver;output data interface and output data. An obstacle detection and avoidance experiment was constructed to demonstrate the symbolic processing method. The results of the robot obstacle avoidance experiment demonstrated that the mobile robot could successfully navigate the obstacle course using symbolic processing methods for the control software. The significance of the symbolic processing approach is that the method arrived at a solution by using a more formal quantifiable process. Some of the practical applications for this theory are: 3D object recognition, obstacle avoidance, and intelligent robot control.

关键词： symbolic processing computer vision laser scanning mobile robots artificial intelligence

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Study of cooperative algorithm and group behavior in multi-robot

Study of cooperative algorithm and group behavior in multi-r...

引用

Conference on intelligent robots and computer vision XX: algorithms, techniques, and active vision

作者： Hong, SW Park, KS Shin, SW Ahn, DS Pukyong Natl Univ Sch Mech Engn Intelligent Control Lab Nam Gu Pusan 608739 South Korea

ISBN: (纸本)081944300X

In a multi-agent system, the action selection strategy is important for the cooperation and coordination of multi agents. However the overlap of actions selected individually by each robot makes the acquisition of cooperation behaviors less efficient. In addition to that, a complex and dynamic environment makes cooperation even more difficult. So in this paper, we propose a control algorithm which enables each robot to determine the action for the effective cooperation in multi-robot system. We employ a reinforcement learning in order to choose a proper action for each robot in its action subspace. In this paper, robot soccer system is adopted for the multi-robot environment. To play a soccer game, elementary actions such as shooting and passing must be provided. Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulations, the efficiency of own proposed algorithm is verified for the cooperation in multi robot system.

关键词： robot soccer Q-learning cooperation reinforcement learning fuzzy

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Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multi-robot cooperative tasks

Robotic automation for space: planetary surface exploration,...

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Conference on intelligent robots and computer vision XX: algorithms, techniques, and active vision

作者： Schenker, PS Huntsberger, TL Pirjanian, P Baumgartner, E Aghazarian, H Trebi-Ollennu, A Leger, PC Cheng, Y Backes, PG Tunstel, EW Dubowsky, S Iagnemma, K McKee, GT MIT Cambridge MA 02139 USA

ISBN: (纸本)081944300X

During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.

关键词： mobile robots mobile manipulators robot architectures robot control intelligent control machine vision sensor fusion modular robots Mars exploration NASA robotics

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Real-time robot learning

Real-time robot learning

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： B. Bhanu P. Leang C. Cowden Y. Lin M. Patterson Center for Research in Intelligent Systems University of California Riverside CA USA

ISBN: (纸本)0780365763

This paper presents the design, implementation and testing of a real-time system using computer vision and machine learning techniques to demonstrate learning behavior in a miniature mobile robot. The miniature robot, through environmental sensing, learns to navigate a maze choosing the optimum route. Several reinforcement learning based algorithms, such as the Q-learning, Q(/spl lambda/)-learning, fast online Q(/spl lambda/)-learning and DYNA structure, are considered. Experimental results based on simulation and an integrated real-time system are presented for varying density of obstacles in a 15/spl times/15 maze.

关键词： Robot vision systems Robot sensing systems Real time systems Machine learning Cameras Orbital robotics Robot kinematics intelligent robots Learning systems Navigation

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Diffractive 3D phase gratings will qualify optical sensors and image processing technologies for reaching performances of human vision

Diffractive 3D phase gratings will qualify optical sensors a...

引用

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

作者： Lauinger, N CORRSYS DATRON Sensorsyst GMBH D-35578 Wetzlar Germany

Diffractive 2D and 3D grating optics as enabling technologies are on a good way to technically realize specific features well known in human vision. How does the human eye do its job in visual information processing?

ISBN: (纸本)0819438626

关键词： Diffraction gratings 3D image processing Diffraction RGB color model Human vision and color perception Eye 3D vision Cones Visualization Retina

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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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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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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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computer vision system for an autonomous mobile robot

Computer vision system for an autonomous mobile robot

引用

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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