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检索条件"任意字段=Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision"

共 724 条记录，以下是491-500 订阅

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Mobile robot localization by multisensor fusion and scene matching

Mobile robot localization by multisensor fusion and scene ma...

引用

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

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

ISBN: (纸本)0819423068

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

Object-oriented vision for a behavior-based robot

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

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

Feature tracking from an image sequence using affine invaria...

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

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

ISBN: (纸本)0819423068

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

Line following using a two camera guidance system for a mobi...

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

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

ISBN: (纸本)0819423068

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

Inverted retina of the human eye: a trichromatic 4D space-ti...

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

作者： Lauinger, Norbert CORRSYS GmbH Wetzlar Ger Germany

ISBN: (纸本)0819423068

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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Unified approach to control point detection and stereo disparity computation

Unified approach to control point detection and stereo dispa...

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

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

ISBN: (纸本)0819423068

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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Choreographed scope manoeuvring in robotically-assisted laparoscopy with active vision guidance

Choreographed scope manoeuvring in robotically-assisted lapa...

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IEEE Workshop on Applications of computer vision (WACV)

作者： Yuan-Fang Wang D.R. Uecker Wang Yulun Department of Computer Science University of California Santa Barbara CA USA

This paper presents our research at bringing the state-of-the-art in vision and robotics technologies to enhance the emerging laparoscopic surgical procedure. In particular, a framework utilizing intelligent visual modeling, recognition, and serving capabilities for assisting the surgeon in manoeuvring the scope (camera) in laparoscopy is proposed. The proposed framework integrates top-down model guidance, bottom-up image analysis, and surgeon-in-the-loop monitoring for added patient safety. For the top-down directives, high-level models are used to represent the abdominal anatomy and to encode choreographed scope movement sequences based on the surgeon's knowledge. For the bottom-up analysis, vision algorithms are designed for image analysis, modeling, and matching in a flexible, deformable environment (the abdominal cavity). For reconciling the top-down and bottom-up activities, robot serving mechanisms are realized for executing choreographed scope movements with active vision guidance.

关键词： Laparoscopes Robot vision systems Surges Image sequence analysis Abdomen Algorithm design and analysis Minimally invasive surgery intelligent robots Smart cameras Patient monitoring

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intelligent robots and computer vision XIV: algorithms, techniques, active vision, and Materials Handling

Intelligent Robots and Computer Vision XIV: Algorithms, Tech...

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intelligent robots and computer vision XIV: algorithms, techniques, active vision, and Materials Handling

ISBN: (纸本)0819419524

This conference proceedings contain 70 papers. Topics covered include:Pattern recognition in intelligent robotics;active vision and control;Color image processing;Systems and applications;Robotic navigation, path planning, and use of motion and image sequences;3D modeling and data processing for robotics and machine vision;Three dimensional pattern recognition for intelligent robots;Neural nets for pattern recognition and machine vision;Feature extraction;and;Detection and segmentation in machine vision.

关键词： computer vision

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active vision system for planning and programming of industrial robots in one-of-a-kind manufacturing

Active vision system for planning and programming of industr...

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Conference on intelligent robots and computer vision XIV - algorithms, techniques, active vision, and Materials Handling

作者： Berger, U Schmidt, A UNIV BREMEN BIBAD-28335 BREMENGERMANY

ISBN: (纸本)0819419524

The aspects of automation technology in industrial one-of-a-kind manufacturing are discussed. An approach to improve the quality and cost relation is developed and an overview of an 3D- vision supported automation system is given. This system is based on an active vision sensor for 3D-geometry feedback. Its measurement principle, the coded light approach, is explained. The experimental environment for the technical validation of the automation approach is demonstrated, where robot based processes (assembly, arc welding and flame cutting) are graphically simulated and off-line programmed. A typical process sequence for automated one- of-a-kind manufacturing is described. The results of this research development are applied to a project on the automated disassembling of car parts for recycling using industrial robots.

关键词： one-of-a-kind manufacturing industrial robot active vision structured light approach 3D-measurement geometry feedback process simulation off-line programming assembly arc welding flame cutting disassembling car recycling

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Image segmentation using Gaussian curvature

Image segmentation using Gaussian curvature

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Conference on intelligent robots and computer vision XIV - algorithms, techniques, active vision, and Materials Handling

作者： Shrikhande, N Ramaswamy, S CENT MICHIGAN UNIV DEPT COMP SCIMT PLEASANTMI 48859

ISBN: (纸本)0819419524

One of the central problems of computer vision is segmentation of images into salient features such as edges and surfaces. Different kinds of similarity criteria can be used to group related pixels together. One such criterion is the curvature of surfaces in an image of a multiobject scene that contains several objects with different shapes. In practice, however, curvature is difficult to calculate because small amount of noise can cause large amounts of errors in calculations of first and second derivatives. In this paper, we use a discrete approximation of Gaussian curvature that is efficient to compute. The approximation is used to segment the image into individual surfaces. Both synthetic and real images have been tested. Results appear quite encouraging.

关键词： Image segmentation Visual process modeling Data modeling Software development computer vision technology Image processing algorithms and systems Machine vision Object recognition Reliability Visualization

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