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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 256-262页

作者： Golovan, Alexander V. Shevtsova, Natalia A. Klepatch, Arkadi A. Rostov State Univ. Rostov-on-Don Russia

ISBN: (纸本)0819423068;9780819423061

Biologically plausible model of the system with an adaptive behavior in a priori environment and resistant to impairment has been developed. The system consists of input, learning, and output subsystems. The first subsystems classifies input patterns presented as n-dimensional vectors in accordance with some associative rule. The second one being a neural network determines adaptive responses of the system to input patterns. Arranged neural groups coding possible input patterns and appropriate output responses are formed during learning by means of negative reinforcement. Output subsystem maps a neural network activity into the system behavior in the environment. The system developed has been studied by computer simulation imitating a collision-free motion of a mobile robot. After some learning period the system 'moves' along a road without collisions. It is shown that in spite of impairment of some neural network elements the system functions reliably after relearning. Foveal visual preprocessor model developed earlier has been tested to form a kind of visual input to the system.

关键词： computer vision

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Experimental robot gripper control for handling of soft objects

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 264-270页

作者： Friedrich, Werner E. Ziegler, T.H. Lim, P. Industrial Research Ltd. Auckland NZ

ISBN: (纸本)0819423068;9780819423061

The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

关键词： Industrial robots

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Mobile robot localization by multisensor fusion and scene matching

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 298-309页

作者： Yang, Yi B. Tsui, Hung T. Southeast Univ. Shatin Hong Kong

ISBN: (纸本)0819423068;9780819423061

This paper proposes a new localization method for indoor mobile robots. Using two cameras and one laser range finder on board a TRC mobile robot, the initial position and pose of the robot can be obtained by multisensor fusion and scene matching based on geometric hashing. No correspondence calculation and special pattern recognition are needed during the scene matching. This localization method can be implemented in five stages: 1) Model the indoor environment. Some selected indoor environment features are firstly modeled off-line into hashing tables. 2) Perform system calibration and information fusion from two cameras and the range finder. 3) Extract the vertical edge points corresponding to the horizontal scanning plane of the 2D laser range finder from the scene images and transform them into geometric invariants. 4) Perform scene matching and matching verification by geometric hashing and model back-projection method respectively. 5) Perform position and pose estimation by a least square fit method. Experimental results show that the accuracy and reliability of this localization method are quite high.

关键词： Mobile robots

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Object-oriented vision for a behavior-based robot

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 278-289页

作者： Bischoff, Rainer Graefe, Volker Wershofen, Klaus P. Federal Armed Forces Univ. Munich Neubiberg Ger Germany

ISBN: (纸本)0819423068

As one realization out of the class of behavior-based robot architectures a specific concept of situation-oriented behavior-based navigation has been proposed. Its main characteristic is that the selection of the behaviors to be executed in each moment is based on a continuous recognition and evaluation of the dynamically changing situation in which the robot is finding itself. An important prerequisite for such as approach is a timely and comprehensive perception of the robot's dynamically changing environment. Object-oriented vision as proposed and successfully applied, e.g., in freeway traffic scenes is a particularly well suited sensing modality for robot control. Our work concentrated on modeling the physical objects which are relevant for indoor navigation, i.e. walls, intersections of corridors, and landmarks. In the interest of efficiency these models include only those necessary features for allowing the robot to reliably recognize different situations in real time. According to the concept of object-oriented vision recognizing such objects is largely reduced to a knowledge-based verification of objects or features that may be expected to be visible in the current situation. The following results have been achieved: 1) By using its vision system and a knowledge base in the form of an attributed topological map the robot could orient itself and navigate autonomously in a known environment. 2) In an unknown environment the robot was able to build, by means of supervised learning, an attributed topological map as a basis for subsequent autonomous navigation. 3) The experiments could be performed both under unmodified artificial light and under natural light shining through the glass walls of the building.

关键词： computer vision

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Cavity surface measuring system using stereo reconstruction

Cavity surface measuring system using stereo reconstruction

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

作者： Paar, G Bauer, A Joanneum Research Institute (Austria)

ISBN: (纸本)0819423068

Three-dimensional (3D) reconstruction of highly textured surfaces on unvegetated (rock-like) terrain is of major interest for stereo vision based mapping applications. We describe a prototype system for automatic modeling of such scenes. It is based on two frame CCD cameras, which are tightly attached to each other ensuring constant relative orientation. One camera is used to acquire known reference points to get the exterior orientation of the system, the other records the surface images. The system is portable to keep image acquisition as short as possible. Automatic calibration using the images acquired by the calibration camera permits the computation of exterior orientation parameters of the surface camera via a transformation matrix. A robust matching method providing dense disparities together with a flexible reconstruction algorithm renders an accurate grid of 3D points on arbitrarily shaped surfaces. The results of several stereo reconstructions are merged. Projection onto the global shape allows easy evaluation of volumes, and thematic mapping with respect to the desired surface geometry in construction processes. We report on accuracy and emphasize on the practical usage. It is shown that the prototype system is able to generate a proper data set of surface descriptions that is accurate and dense enough to serve as documentation, planning and accounting basis.

关键词： stereo matching 3D reconstruction computer vision photogrammetry calibration rock surface volume measurements

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Inverted retina of the human eye: a trichromatic 4D space-time optical correlator

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 344-360页

作者： Lauinger, Norbert CORRSYS GmbH Wetzlar Ger

ISBN: (纸本)0819423068;9780819423061

If the nuclear retinal layers of the human eye are interpreted as 3D phase gratings, the aperture effects in human vision, namely the Stiles-Crawford effects I and II and trichromatic vision, can be explained in terms of interference optics. A multilayer grating situated in the image plane of the eye fixes the direction of the diffraction orders through its 3D geometry. The ratio between λ' or ν' of the light cone incident at an angle and λ and ν of the cone incident at 0 degrees can thus be differentiated as a brightness, hue and saturation shift in 3 chromatic RGB diffraction orders in the near field behind the grating, thus providing information on the relative position, distance, 3D shape and movement of objects in the 3D space. The direction cosine of the light cones in the von Laue equation means that lateral distances and movements relative to the visual axis and longitudinal movements relative to the focused distance give rise to the aperture effects and a space-time microrelief of the 3D world. This is regarded as an optical basis for monocular spatial vision and motion detection. Temporal patterns in human vision therefore produce spatial patterns and movement information and vice versa. The intrinsic oscillations of the nuclear layers transform the constant interference-optical object representations become possible. The interference-optical local lateral connections and the retinal feedback NN structure allow the possibility of parallel-optical image correlation in real time. The psychophysical transformations in the retinal 3D grating correspond to an image transformation into a reciprocal grating; the retinal clock is set adaptively by means of λmax of the 111 diffraction order and via the trichromatic white standard.

关键词： vision

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Cavity surface measuring system using stereo reconstruction

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 207-217页

作者： Paar, Gerhard Bauer, A. Joanneum Research Inst. Graz Austria

ISBN: (纸本)0819423068;9780819423061

3D reconstruction of highly textured surfaces on unvegetated terrain is of major interest for stereo vision based mapping applications. We describe a prototype system for automatic modeling of such scenes. It is based on two frame CCD cameras, which are tightly attached to each other ensuring constant relative orientation. One camera is used to acquire known reference points to get the exterior orientation of the system, the other records the surface images. The system is portable to keep image acquisition as short as possible. Automatic calibration using the images acquired by the calibration camera permits the computation of exterior orientation parameters of the surface camera via a transformation matrix. A robust matching method providing dense disparities together with a flexible reconstruction algorithm renders an accurate grid of 3D points on arbitrarily shaped surfaces. The results of several stereo reconstructions are merged. Projection onto the global shape allows easy evaluation of volumes, and thematic mapping with respect to the desired surface geometry in construction processes. We report on accuracy and emphasize on the practical usage. It is shown that the prototpye system is able to generate a proper data set of surface descriptions that is accurate and dense enough to serve as documentation, planning and accounting basis.

关键词： Binocular vision

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Line following using a two camera guidance system for a mobile robot

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 290-297页

作者： Samu, Tayib Kelkar, Nikhal Perdue, David Ruthemeyer, Michael A. Matthews, Bradley O. Hall, Ernest L. Univ. of Cincinnati Cincinnati OH USA

ISBN: (纸本)0819423068;9780819423061

Automated unmanned guided vehicles have many potential applications in manufacturing, medicine, space and defense. A mobile robot has been designed for the 1996 Automated Unmanned Vehicle Society competition which was held in Orlando, Florida on July 15, 1996. The competition required the vehicle to follow solid and dashed lines around an approximately 800 ft. path while avoiding obstacles, overcoming terrain changes such as inclines and sand traps, and attempting to maximize speed. The purpose of this paper is to describe the algorithm developed for the line following. The line following algorithm images two windows and locates their centroid and with the knowledge that the points are on the ground plane, a mathematical and geometrical relationship between the image coordinates of the points and their corresponding ground coordinates are established. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. Two cameras are mounted on the robot with a camera on each side. One camera guides the robot and when it loses track of the line on its side, the robot control system automatically switches to the other camera. The test bed system has provided an educational experience for all involved and permits understanding and extending the state of the art in autonomous vehicle design.

关键词： Mobile robots

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Feature tracking from an image sequence using affine invariance and Hough transform

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 493-504页

作者： Tsui, H.T. Kong, S.K. Chan, C.W. Chinese Univ. of Hong Kong Shatin N T Hong Kong

ISBN: (纸本)0819423068;9780819423061

Feature point tracking from an image sequence is an important step in many methods of image understanding including shape from motion and mobile robot navigation. Assuming an affine camera model, this paper proposed a new tracking method using affine invariance. Any 3D feature point can have unique coordinates with reference to an affine basis and the affine coordinates are invariant to affine transformation: camera rotations and translations. The images of a set of 4 control points defining an affine basis are tracked in an image sequence using a conventional method. Under this assumption, given a feature point in any image, its locus in the first image is a straight line. The straight lines of the corresponding features from the image sequence will intersect at a point, the corresponding feature point, in the first image. A Hough transform technique is designed to detect this intersection point and track the corresponding feature points in the image sequence. This technique is suitable for tracking a large number of feature points. Its performance is practically unaffected by missing features in some images and large motion steps. Accurate and reliable results had been obtained in real experiments using the method.

关键词： Mobile robots

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Unified approach to control point detection and stereo disparity computation

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 184-198页

作者： Poelzleitner, Wolfgang Casasent, David P. Carnegie Mellon Univ. and Joanneum Research Cent. Graz Austria

ISBN: (纸本)0819423068;9780819423061

We consider two problems: first, the problem of detection of objects in images of 3D planetary terrain; second, the task of finding corresponding points for stereo matching of this type of images. We propose an approach that is simultaneously applicable to both problem areas. The approach uses a bank of filters based on different 2D Gabor functions. By detection we mean locating multiple classes of targets with distortions present and in a cluttered background. It is desirable to minimize false alarms due to clutter, image noise, and the presence of other objects. In the scenario of stereo matching, the pixel location where we search for the corresponding point is the target, while all ambiguous matches are non-targets. In this work, we use Gabor filter banks in two versions. First, for fast detection of targets, the single filter outputs of the bank are fused by linear combination. Second, for stereo matching, the outputs of the filters form a feature vector used to find the best match. We refer to both types of filters as a macro Gabor filter. In the linear combination case, the filter bank forms a single filter. This filter is correlated with an input image, followed by local maximum detection, and thresholding to yield the finally detected targets. The new aspects are: combining real and imaginary parts of GFs into one filter using centered on off-center GFs, separately optimizing the fusion coefficients of the GFs by controlling the shape of the correlation outputs of each filter alone, and the application to two different scenarios.

关键词： Binocular vision

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