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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371-380 订阅

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Feature detection and map building using ranging sensors

Feature detection and map building using ranging sensors

引用

International Conference on intelligent Transportation

作者： M. Kulich P. Stepan L. Preucil The Gerstner Laboratory for Intelligent Decision Making and Control Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

This paper describes two methods for feature extraction. The goal is to interpret the data obtained from sonar measurements of the robot's environment as geometric map primitives. The extracted primitives can be used to update the robot position and the global map. This is the process how the robot can explore an unknown environment. The first algorithm gathers sonar measurements into sensor-based map and then using computer-vision techniques and morphological operations extracts geometric description of detected obstacles. The second method is started whenever the border tracking algorithm has been activated. This method uses raw sonar data as the input while obstacle border is robustly detected by the border tracking process. The algorithms have been verified with an experimental mobile robot at the Czech Technical University.

关键词： computer vision Robot sensing systems Sonar measurements Mobile robots Sonar detection Sensor fusion intelligent sensors Data mining Robustness Laboratories

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

Proceedings of the 1998 Conference on Intelligent Robots and...

引用

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

The proceedings contains 53 papers from the SPIE Conference on intelligent robots and computer vision XVII: algorithms, techniques, and active vision. Topics discussed include: planetary rovers for long-range Mars science and sample return;pose estimation;geometric and orthogonal moments;Shen-Castan and Canny-Deriche filters;Bayesian neural network learning;robot guidance;face recognition;wireless video monitoring and robot control;image processing for intelligent robotics;robot path planning, guidance and control;color computer vision;3D visualization for intelligent robotics;active robotic vision;and image segmentation in computer vision.

关键词： Robotics

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active stereo for mobile robot vision

Active stereo for mobile robot vision

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

作者： Viitanen, J VTT Automat FIN-33101 Tampere Finland

ISBN: (纸本)081942983X

This paper describes a practical approach for environment perception using fusion of active ranging with a low-power laser and passive, stereo based ranging. A low-cost, coarse pitch linear detector is used, but still sufficient distance accuracy for mobile robotics is achieved by using a new method of sub-pixel calibration. The device is intended for mobile robot or vehicle perception duties in obstacle detection and target position measurement.

关键词： computer vision stereo mobile robots

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Planning of collision free paths for holonic Blastman robots

Planning of collision free paths for holonic Blastman robots

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

作者： Rintala, M Heikkila, T Blastman Robot Ltd FIN-90101 Oulu Finland

ISBN: (纸本)081942983X

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out succesfully.

关键词： robots Space robots Telescopes Robotic systems Space telescopes Algorithm development Manufacturing computer programming Free space Robotics

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intelligent robot trends for 1998

Intelligent robot trends for 1998

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

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

ISBN: (纸本)081942983X

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. 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 a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also 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.

关键词： Control systems Robotics Robot vision Mechatronics Manufacturing Sensors Visualization intelligent sensors Kinematics Safety

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Fast face localization for mobile robots: signature analysis and color processing

Fast face localization for mobile robots: signature analysis...

引用

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

作者： Grana, M Gonzalez, AI Raducanu, B Echave, I UPV EHU Dept CCIA San Sebastian 20080 Spain

ISBN: (纸本)081942983X

The purpose of our works is to provide fast and reliable face localization techniques in real time an in real-life scenes. Person localization is included in this problem. The end application sought is the ability of mobile robots to navigate in human populated environments, and to start visual interaction with them. Known methods are computationally intensive, far from real time implementation at near future processing power of off-the-shelf processors. Our technique is based in motion segmentation, signature analysis and color processing. Signature analysis provides fast hints of the person and face localization. Color processing is used to confirm the face hypothesis, and it is based on our works on adaptive color quantization of image sequences. The technique can be implemented in real time and combined with other approaches to enhance the recognition results.

关键词： color processing face localization person localization

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Fuzzy logic control for an automated guided vehicle

Fuzzy logic control for an automated guided vehicle

引用

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

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

ISBN: (纸本)081942983X

This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar sensors as well as stored map information can be cased to guide the robot. Sensor fusion can be accomplished between real time sensed information and stored information in a manner similar to a human decision maker. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating to the computer the X,Y coordinates of a lane marker. Testing of these systems yielded positive results by showing that at five miles per hour, the vehicle can follow a line and avoid obstacles. The obstacle detection uses information from Polaroid sonar detection system. The motor control system uses a programmable Galil motion control system. This design, in its modularity, creates a portable autonomous controller that could be used for any mobile vehicle with only minor adaptations.

关键词： fuzzy logic vision guidance mobile robots motion control

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Self-learning, self-broadening knowledge base for calibration-free robot vision

Self-learning, self-broadening knowledge base for calibratio...

引用

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

作者： Nguyen, MC Graefe, V Univ Bundeswehr Munchen Inst Messtech D-85577 Neubiberg Germany

ISBN: (纸本)081942983X

A new concept of a self-learning, self-broadening knowledge base that may be used as the long-term memory for a completely calibration-free robot vision to manipulate objects is presented. With this concept the robot automatically acquires during its normal operation the necessary knowledge which can be saved afterwards in the knowledge base and allowing the robot to adapt itself to changing conditions. Thus, the robot presents self-learning characteristics. The robot control using the knowledge base is then based on the human way of solving problems, i.e. new, additional facts (in our case control words) are developed from available facts. Such a control enables improving skills of the robot. The concept has been successfully realized and tested in real-word experiments with an uncalibrated vision-guided manipulator involving the grasping of various objects with nearly any shape and in an arbitrary orientation in horizontal plane.

关键词： self-learning robot calibration-free robot control robot vision machine learning object grasping knowledge based systems

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Digital image based tree measurement for forest inventory

Digital image based tree measurement for forest inventory

引用

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

作者： Juujarvi, J Heikkonen, J Brandt, S Lampinen, J Helsinki Univ Technol Lab Computat Engn FIN-02015 HUT Finland

ISBN: (纸本)081942983X

In this paper we propose a digital camera based method for estimating the stem diameters of growing trees for forest inventory purposes. The imaging system consists of a single camera, a laser distance measurement device and a calibration stick placed beside the tree to be measured. To carry out the task camera geometry parameters are first;determined using linear pinhole camera and nonlinear lens distortion models. In addition of the accurate camera calibration, the viewing geometry has to be determined for 3-D measurement purpose with the help of the calibration stick. The estimation of the stem diameters is carried out by combining the stem curve information from the image with a priori stem form model. Experimental results reported with Scots pines indicate that this approach provides feasible solutions for the measurement task.

关键词： 3D machine vision camera calibration image segmentation stem form model forest inventory

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Stereo-based registration of LADAR and color imagery

Stereo-based registration of LADAR and color imagery

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

作者： Elstrom, MD Smith, PW Abidi, MA Univ Tennessee Dept Elect Engn Imaging Robot & Intelligent Syst Lab Knoxville TN 37996 USA

ISBN: (纸本)081942983X

A major problem in the creation of multi-sensory interfaces for tele-robotics is the development of methods for combining various data sources into one coherent world model for examination by the operator. However, if the images acquired from different sensing modalities can be registered with LADAR range images, texture mapping can be employed for sensor integration. Presented in this paper is a novel stereo-based method for registering color and LADAR images acquired from externally uncalibrated sensors fbr use in a visualization system as described above. In our approach, corresponding features are first extracted from LADAR intensity/color image pairs. Since the computation of Euclidean range using stereoscopic techniques depends on knowledge of the relative sensor orientation, a downhill simplex algorithm is iteratively applied to minimize the sum-squared-error between the stereo and LADAR range estimates of the matched points with respect to the system's relative rotation and translation parameters. Once the system's epipolar geometry has been estimated in this manner, the LADAR range data is employed to re-project the color image to the viewpoint of the scanner for use as a texture map.

关键词： color image processing range imaging registration stereo 3D vision : perception processing and modeling

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