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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331-340 订阅

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Real time image processing architecture for robot vision

Real time image processing architecture for robot vision

引用

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

作者： Persa, S Jonker, P Tech Univ Delft Pattern Recognit Grp NL-2628 CJ Delft Netherlands

ISBN: (纸本)0819438626

This paper presents a study of the impact of MMX technology and PIII Streaming SIMD (Single Instruction stream, Multiple Data stream) Extensions in image processing and machine vision application, which, because of their hard real time constrains, is an undoubtedly challenging task. A comparison with a traditional scalar code and with another parallel SIMD architecture (IMAP-vision board) is discussed with emphasize of the particular programming strategies for speed optimization. More precisely we discuss the low level and intermediate level image processing algorithms, which are best suited for parallel SIMD implementation. High-level image processing algorithms are more suitable for parallel implementation on MIMD architectures. While the IMAP-vision system performs better because of the large number of processing elements, the MMX processor and PIII (with Streaming SIMD Extensions) remains a good candidate for low-level image processing.

关键词： low and intermediate image processing parallel SIMD architectures robot vision

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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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Diffractive 3D grating-optical sensor with trichromatic color constancy at adaptation to variable illuminants

Diffractive 3D grating-optical sensor with trichromatic colo...

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

作者： Lauinger, N Badenhop, B CORRSYS DATRON Sensorsyst GmbH D-35578 Wetzlar Germany

ISBN: (纸本)0819438626

Since 0. Lummer [6] and the industrial development and production of artificial illuminants it became more and more evident that between sunlight and human vision a specific — until today unexplained — "resonance" condition apparently exists. Therefore the recommendation holds to approximate as much as possible the spectral energy distribution of artificial illuminants to the one of sunlight. Especially in human color vision spectral shifts of illuminants always lead to hue shifts (cornbined Brightness-, Hue-, Saturation-Shifts) in the perception of colors. These hue shifts in human vision adaptively become compensated with more or less time delay, leading to a relatively good "color constancy" under variable illurninants. An — always far from perfect — explanation model, the von Kries-model, attributes this adaptive compensation of hue shifts to the photopigments in the cones of the human retina. Other — less perfect — models attributing this adaptation to cortical functions also exist [1, 2]. In parallel the need becomes evident to realize future color sensors "capable to measure colors normalized to the spectral sensitivity curves of human vision" [7]. It might be registered with satisfaction that a growing objectivity comes into this psychophysical field of color constancy in human vision by the publication of more and more precise data on relevant parameters in the physical conditions of the experiments.

关键词： Diffraction gratings Colorimetry Diffraction Retina Human vision and color perception Visible radiation 3D image processing 3D imaging standards Sensors Cones

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Video switching and sensor fusion for multi-camera sensing systems

Video switching and sensor fusion for multi-camera sensing s...

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

作者： Saxena, M Selvaraj, V Dhareshwar, R Hall, EL Univ Cincinnati Ctr Robot RES Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

With the low cost of solid-state camera systems, it is now possible to include many cameras on a mobile robot or other machine. However, video processing is still relatively expensive. Therefore it is often desirable to share several cameras with a single processor. The purpose of this paper is to describe the design of a video switching system that permits eight cameras to be multiplexed with a single chip. Multiples of eight could also easily be accomplished. The heart of the system is a Maxim video switch. The user simply selects using a three-bit control signal, which camera signal is selected. The output of the video switch is then the desired camera image. One application of this video switch is a four camera input system to a mobile robot being constructed at the University of Cincinnati. Other applications include surveillance and other mobile systems. The decision as to which camera to observe can be made automatically from a computer providing a great versatility. For example, supplemental motion detectors could be used to activate the camera selection for a surveillance system. Higher-level logic has been used on our mobile robot application. Still higher-level logic could be used to fuse the video information in various ways before processing. The significance of this device is that it provides a wealth of video information to be used at the discretion of either a human viewer or automatic system.

关键词： computer vision video switching multiplexing mobile robot

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Spatio-temporal Fourier transforms for visual discrimination

Spatio-temporal Fourier transforms for visual discrimination

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IEEE Convention of the Electrical and ELectronic Engineers in Israel

作者： N. Mirchina Z. Zacharia Electrical and Electronics Department Center for Technological Education Holon Holon Israel

ISBN: (纸本)0780358422

intelligent pattern recognition techniques have become important in the fields of computer and robot vision. Our interest focuses on detection of dynamical variables which allows robotic visual units to define object evolution from 2D images. We describe a computational algorithm which predicts the real scene images using spatial Fourier frequency transforms multiplied by transforms of dynamic model integro-differential equations. The theoretical results have been simulated by computer numerical image processing and compared to expected real scenes.

关键词： Fourier transforms intelligent robots Layout Computational intelligence Pattern recognition computer vision Robot vision systems Object detection Prediction algorithms Frequency

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active exploration for feature based global localization

Active exploration for feature based global localization

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IEEE International Workshop on intelligent robots and Systems (IROS)

作者： M. Seiz P. Jensfelt H.I. Christensen Autonomous System Laboratory EPFL Swiss Federal Institute of Technology Lausanne Switzerland Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

Presents an algorithm for active exploration of the environment by a mobile robot when performing global localization. During the localization process interesting regions for future exploration are selected based on already detected features and on the hypotheses generated by the localization algorithm. The localization process is improved by presenting it a richer set of features. The proposed algorithm provides highly robust global localization in real world environments with very low computational effort spent in finding exploration goal points. Experimental results are given, demonstrating the effectiveness of the algorithm in a number of different situations.

关键词： Orbital robotics Space exploration computer vision intelligent robots Space technology Laboratories Mobile robots Robustness Costs Change detection algorithms

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Fast and efficient indexing approach for object recognition

Fast and efficient indexing approach for object recognition

引用

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

作者： Hefnawy, A Mashali, S Rashwan, M Fikri, M Elect Res Inst Cairo Egypt

ISBN: (纸本)0819434302

This paper introduces a fast and efficient indexing approach for both 2D & 3D model-based object recognition in the presence of rotation, translation, and scale Variations of objects. The indexing entries are computed after preprocessing the data by Haar wavelet decomposition. The scheme is based on a unified image feature detection approach based on Zernike moments. A set of low level features, e.g. high precision edges, gray level corners, are estimated by a set of orthogonal Zernike moments, calculated locally around every image point. A high dimensional, highly descriptive indexing entries are then calculated based on the correlation of these local features and employed for fast access to the model database to generate hypotheses. A Bst of the most candidate models is then presented by evaluating the hypotheses. Experimental results are included to demonstrate the effectiveness of the proposed indexing approach.

关键词： computer vision multidimensional indexing object recognition wavelet transform

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Quality classification of wooden surfaces using Gabor filters and genetic feature optimization

Quality classification of wooden surfaces using Gabor filter...

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

作者： Pölzleitner, W Schwingskakl, G Graz Tech Univ A-8010 Graz Austria

ISBN: (纸本)0819434302

We apply a model of texture segmentation using multiple spatially and spectrally localized filters, known as Gabor filters, to the analysis of texture and defect regions found on wooden boards. Specifically we present a method to find an optimal set of parameters for a given two-dimensional object detection method. The method uses banks of Gabor filters to limit the range of spatial frequencies, where mutually distinct textures differ significantly in their dominant characterizing frequencies. By encoding images into multiple narrow spatial frequency and orientation channels a local classification of texture regions can be achieved. Unlike other methods applying Gabor filters, we do not use a full Gabor transform, but use feature selection techniques to maximize discrimination. The selection method uses a genetic algorithm to optimize various parameters of the system including Gabor weights, and the parameters of morphological pre-processing. We demonstrate the applicability of the method to the task of classifying wooden textures, and report experimental results using the proposed method.

关键词： computer vision

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On the integration of point feature acquisition, tracking and uncalibrated metric reconstruction

On the integration of point feature acquisition, tracking an...

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

作者： Tonko, M Kinoshita, K ATR Human Informat Proc Res Labs Kyoto 6190288 Japan

ISBN: (纸本)0819434302

In this paper a sequence of algorithms for image feature point detection and tracking as well as Euclidian reconstruction of rigid three-dimensional objects from point correspondences is presented. For fully automatic point feature detection, grayvalue images are processed. High-curvature points on contours, i.e. contour elements with locally maximal curvature, are tracked using a normalized correlation algorithm. High-curvature points that could be tracked in a sequence of more than three images are used as point features that are eligible for reconstruction. Since the general way to obtain the epipolar, projective, and Euclidian geometries from point feature correspondences is already solved, here the emphasis is on the performance of the algorithms in the presense of noise. Kanatani's epipolar geometry estimation method is improved and this is experimentally validated. Regarding Bougnoux's Euclidian geometry estimation method, the initial linear solution is now obtained with less uncertainty and the non-linear minimization does no longer converge to a hidden solution. Experimental results are given to assess the system performance.

关键词： 3D scanning Euclidian reconstruction uncalibrated vision real-time feature detection tracking

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Motion control design of the BEARCAT II mobile robot

Motion control design of the BEARCAT II mobile robot

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

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

ISBN: (纸本)0819434302

Motion control is one of the most critical factors in the design of a robot. The purpose of this paper is to describe the research for applying motion control principles for a mobile robot systems design, which is on going at the University of Cincinnati Robotics Center. The mobile robot was constructed during the 1998-1999 academic year, and called BEARCAT II. Its design has inherited many features of its predecessor, BEARCAT I, such as vision guidance, sonar detection and digital control. In addition, BEARCAT II achieved many innovative motion control features as rotating sonar, zero turning radius (ZTR), current control loop, and multi-level controller design (conventional control and fuzzy logic control). This paper will focus on the motion control design, development and programming for the vehicle steering control and rotating sonar systems. The systems have been constructed and tested at the 1999 International Ground Robotics Competition with the Bearcat II running an obstacle course for 153.5 feet and finishing fourth in the competition. The significance of this work is in the increased understanding of robot control and the potential application of autonomous guided vehicle technology for industry, defense and medicine. Keywords: Motion control, motion behavior, compensation, mobile robots.

关键词： Control systems Motion controllers Amplifiers computer programming Mobile robots Robotics Safety Vehicle control Control systems design Fuzzy logic

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