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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 570-580页

作者： El-Konyaly, El-Sayed H. El-Bakary, M. Mashall, S. Mansoura Univ. El-Mansoura Egypt

ISBN: (纸本)0819423068;9780819423061

In this paper, steps of the physically-based modeling technique are revisited. Proposals for enhancing computational burden are implemented. Force derived from the distance between the model profile and the object profile has proven sufficient for shape recovery purposes while the speed of the fitting process is reduced dramatically. In order to give machines the ability to detect surface irregularities as well as their sizes, a threshold potential function force is applied to excite the surface nodal mesh with good time requirements. Implementation details as well as sample examples are introduced.

关键词： computer vision

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Stereo matching by optimization using weak environmental constraints

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 199-206页

作者： Branca, Antonella Stella, Ettore Attolico, Giovanni Distante, Arcangelo Istituto Elaborazione Segnali ed Immagini/CNR Bari Italy

ISBN: (纸本)0819423068;9780819423061

Our goal is to match primitives of a pair of images, thereby solving the correspondence problem, in order to estimate depths of 3D scene points from the relative distance between matched features. We propose a feature-based approach to solve the correspondence problem by minimizing an appropriate energy function where constraints on radiometric similarity and projective geometric invariance of coplanar points are defined. The method can be seen as a correlation based approach which takes into account the projective invariance of coplanar points in computing the optimal matches.

关键词： Binocular vision

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computer-vision-based registration techniques for augmented reality

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 538-548页

作者： Hoff, William A. Nguyen, Khoi Lyon, Torsten Colorado Sch. of Mines Golden CO USA

ISBN: (纸本)0819423068;9780819423061

Augmented reality is a term used to describe systems in which computer-generated information is superimposed on top of the real world; for example, through the use of a see-through head-mounted display. A human user of such a system could still see and interact with the real world, but have valuable additional information, such as descriptions of important features or instructions for performing physical tasks, superimposed on the world. For example, the computer could identify and overlay them with graphic outlines, labels, and schematics. The graphics are registered to the real-world objects and appear to be 'painted' onto those objects. Augmented reality systems can be used to make productivity aids for tasks such as inspection, manufacturing, and navigation. One of the most critical requirements for augmented reality is to recognize and locate real-world objects with respect to the person's head. Accurate registration is necessary in order to overlay graphics accurately on top of the real-world objects. At the Colorado School of Mines, we have developed a prototype augmented reality system that uses head-mounted cameras and computer vision techniques to accurately register the head to the scene. The current system locates and tracks a set of pre-placed passive fiducial targets placed on the real-world objects. The system computes the pose of the objects and displays graphics overlays using a see-through head-mounted display. This paper describes the architecture of the system and outlines the computer vision techniques used.

关键词： computer vision

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Local navigation and fuzzy control realization for autonomous guided vehicle

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 331-342页

作者： El-Konyaly, El-Sayed H. Saraya, S. Shafik, R. Mansoura Univ. El-Mansoura Egypt

ISBN: (纸本)0819423068;9780819423061

This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.

关键词： intelligent robots

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Feature spacing trajectory representation and processing for active vision

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 390-401页

作者： Casasent, David P. Sipe, Michael Carnegie Mellon Univ. Pittsburgh PA USA

ISBN: (纸本)0819423068;9780819423061

A new feature space trajectory (FST) description of 3D distorted views of an object is advanced for active vision applications. In an FST, different distorted object views are vertices in feature space. A new eigen-feature space and Fourier transform features are used. Vertices for different adjacent distorted views are connected by straight lines so that an FST is created as the viewpoint changes. Each different object is represented by a distinct FST. An object to be recognized is represented as a point in feature space; the closest FST denotes the class of the object, and the closest line segment on the FST indicates its pose. A new neural network is used to efficiently calculate distances. We discuss its uses in active vision. Apart from an initial estimate of object class and pose, the FST processor can specify where to move the sensor to: confirm class and pose, to grasp the object, or to focus on a specific object part for assembly or inspection. We advance initial remarks on the number of aspect views needed and which aspect views are needed to represent an object. We note the superiority of our eigenspace for discrimination, how it can provide shift invariance, and how the FST overcomes problems associated with other classifiers.

关键词： computer vision

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Measurement of the area of involvement in skin disease

Measurement of the area of involvement in skin disease

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Conference on intelligent robots and computer vision XV: algorithms, techniques, active vision, and Materials Handling

作者： Roning, J Kontinen, J Univ. of Oulu Oulu Finl Finland

ISBN: (纸本)0819423068

The ability to assess the severity of dermatoses by measuring the area of involvement is important in both clinical practice and research, but it has been shown that physicians, nurses and other groups are unable to do this accurately. A common practice in current use is the 'rule of nine' method, but wide variations have been found between observers' estimates. The purpose of this work was to test and demonstrate the feasibility of a computer vision technique for measuring the area of involvement in skin diseases by developing a system for psoriasis area assessment from slides which can be operated in an image processing environment. The exact percentage of the slide area involved varied from 1% to 59%, thus providing realistic material for the system. The system proved sufficiently accurate, and the techniques evidently have a potential for inclusion as parts of a more accurate and rapid method for area measurement in the case of skin diseases.

关键词： psoriasis machine vision area of involvement

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Stereo Matching by optimization using weak environmental constraints

Stereo Matching by optimization using weak environmental con...

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Conference on intelligent robots and computer vision XV: algorithms, techniques, active vision, and Materials Handling

作者： Branca, A Stella, E Attolico, G Distante, A Istituto Elaborazione Segnali ed Immagini/CNR (Italy)

ISBN: (纸本)0819423068

Oue goal is to mar ch primitives of a pair of images, thereby solving the correspondence problem, in order to estimate depths of 3D scene points from the relative distance (disparity) between matched features. We propose a feature-based approach to solve the correspondence problem by minimizing an appropriate energy function where constraints on radiometric similarity and projective geometric invariance of coplanar points are defined. The method can be seen as a correlation based approach which take into account the projective invariance of coplanar points in computing the optimal matches.

关键词： Detection and tracking algorithms Feature extraction 3D image processing Error analysis Direct methods Image segmentation Object recognition Optimization (mathematics) 3D vision Machine vision

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Uniqueness of shape recovery based on interreflections

Uniqueness of shape recovery based on interreflections

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Conference on intelligent robots and computer vision XV: algorithms, techniques, active vision, and Materials Handling

作者： Yang, J Zhang, DL Ohnishi, N Sugie, N RIKEN (Japan) Nagoya Univ. (Japan) Meijo Univ. (Japan)

ISBN: (纸本)0819423068

We discuss the uniqueness of 3-D shape recovery of a polyhedron from a single shading image, and propose an approach to uniquely determine the concave shape solution by using interreflections as a constraint. We show that if interreflection distribution is not considered, multiple convex (or concave) shape solutions usually exist for a pyramid with three or more visible facets. However, if interreflection distribution is used as a constraint to limit the shape of polyhedron (for a concave polyhedron), polyhedral shape can be uniquely determined. Interreflections, which were considered to be deleterious in conventional approaches, are an important constraint for shape-from-shading.

关键词： computer vision 3D shape recovery shape-from-shading interreflection polyhedron

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Simulation of a 3D-color vision system based on synthetic nonlinear modulation

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 361-369页

作者： Xu, Zhanping Schwarte, Rudolf Heinol, Horst G. Lange, Robert Li, J. Univ. Siegen Siegen Ger

ISBN: (纸本)0819423068;9780819423061

This paper focuses on simulating a model of 3D-color vision system based on synthetic nonlinear modulation. The model is set up to recover 3D and color properties from a colored object through evaluating several rf-interferograms sampled by a black-white CCD camera. Colorizing a black-white CCD camera in a 3D-vision system implies high resolution. The synthetic nonlinear modulation is different from other 3D-color vision systems. Different colored lights are synchronously modulated with characterizing rf-frequencies to detect a 3D object. Recovering colors is equally treated as recovering 3D information. Optical filters are not used. Instead, a suitable algorithm is adopted for recovering color and 3D information. Since a modulated optical rf-signal is used as a detecting probe rather than an unmodulated optical wave, higher orders of harmonic signals may be caused by electrical or optical components. Although linear matching techniques are adapted to prevent the problem, it is necessary to simulate the vision system for predicting its performances. An 8-bit black-white CCD camera with different signal to noise ratios is taken as an example in the simulation. 3D color properties are evaluated for the system in the case of nonlinearity and noise. An optimized result is obtained for realizing this vision system.

关键词： computer vision

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active vision and adaptive learning

Active vision and adaptive learning

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Conference on intelligent robots and computer vision XV: algorithms, techniques, active vision, and Materials Handling

作者： Peters, M Sowmya, A Univ. of New South Wales (Australia)

ISBN: (纸本)0819423068

active vision is identified by a closed loop linking sensing with acting. Thus, an active vision system's behaviour is directly determined by what it senses. To date however, the responses produced by active vision systems have tended to be relatively low-level, generally designed to facilitate improved sensing, by enhancing the duration or speed of object tracking, for example, or optimising the focussed application of more intensive image processing. This is probably adequate if the active vision system is designed as a front end to other processes or to specialised application systems, or if it is a demonstration in support of a theoretical vision model. However, this leaves unanswered the problems of i) how to select an appropriate action when many different alternatives are available, and ii) how best to modify the behavioural repertoire of the system. These problems are especially important in two situations: firstly, when an autonomous system faces a novel situation and must respond adaptively without the benefit of a priori knowledge, and secondly, when systems attempt higher levels of perception and response, and links between the absolute properties of the incoming image data and the actual objects of perception become increasingly attenuated. This paper discusses methods for linking learning with active vision so that the behaviour of the system is optimised over time for the achievement of goals. We argue the necessity of system goals in learning vision systems, and discuss methods for propagating goals through all levels of loose hierarchies. In the last section we outline an architecture in which high and low level perception operate interactively and in parallel.

关键词： active vision adaptive learning motion tracking object tracking human movement foveating saccades

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