Due to delays in image acquisition and processing, prediction is a critical factor for successful visual tracking of moving objects (both for humans and for vision machines). This paper explores some alternative techn...
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ISBN:
(纸本)0819413216
Due to delays in image acquisition and processing, prediction is a critical factor for successful visual tracking of moving objects (both for humans and for vision machines). This paper explores some alternative techniques for predicting object motion for the purpose of tracking with an active camera system. In particular, one of our goals is to develop a system that will track an object undergoing `random' motion quite well, but that will track much better (at higher speeds with less lag) if the object settles into a periodic motion of some kind. Rather than identify parameters for specific signal models to accomplish this, we propose to use a finite set of previous joint states for the signal model. The advantages and problems associated with this approach are discussed. Results of experiments using different prediction algorithms with TRICLOPS, a high-performance active vision system, are also presented.
Low level edge detection operators usually do not generate contiguous edges, leaving objects in images with discontinuous borders. This, coupled with inherent signal noises, makes it difficult to identify objects in i...
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ISBN:
(纸本)0819413208
Low level edge detection operators usually do not generate contiguous edges, leaving objects in images with discontinuous borders. This, coupled with inherent signal noises, makes it difficult to identify objects in images. Here we describe a new algorithm that connects disjoint edge pixels to form continual object boundaries. We model the edge images as potential fields deployed with energies at the edge pixel positions all over the images. Pixels at the edge disjoint positions are charged by the combining forces of these edge pixels in proportion to the relative distances and directions of these pixels. An intrinsic part of the process is the identification of terminal edge pixels (TEP), accompanying with a classification of edge pixels in terms of the pixel connection patterns, to provide critical information for possible connectivity of edge segments. The algorithm applies a potential evaluation function to measure the likelihood of edge linking in certain directions for given TEPs. To reduce the computational overhead and improve the efficiency of the algorithm, an informed search method is used to locate significant edge pixels that present the most strong linking forces to a given TEP. The potential value for the TEP is calculated with respect to the edge directions dominated by the linking forces. When the potential value exceeds a given threshold in a direction, an extension is made at the TEP position in that direction. The process iterates until desired results are attained, using a global edge pattern evaluation scheme.
Omnidirectional vision using a wide angle lens with a 2 pi steradian field has been studied for image visualization and navigation for mobile robots. The advantages that can be obtained with the large field of view in...
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ISBN:
(纸本)0819410268
Omnidirectional vision using a wide angle lens with a 2 pi steradian field has been studied for image visualization and navigation for mobile robots. The advantages that can be obtained with the large field of view include instantaneous viewing which permits dynamic control and improved visualization. The significant geometric distortion can be corrected using image processing for either image viewing or target recognition. The purpose of this paper is to present results from the use of omnidirectional vision as an integral component in an intelligent robot control system. Using the vision system for position updates provides a method for accurate position control. Simulation and experimental results are presented of a two level control system which uses encoders for dead reckoning position control and periodic vision position updates. The system appears promising for mobile robot navigation and can lead to a robust control system.
Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attribu...
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ISBN:
(纸本)0819410268
Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attributes of a prototype mobile vehicle using synchronized dc motor drives, and a number of methods for the on-line planning of obstacle avoidance. Measurements of the efficiency of the paths described using each collision avoidance method are quantified using a number of metrics discussed in the paper.
This paper presents results of developing basic control approaches, structures and software tools for the sensory based robot setup programming. The control task decomposition is described. The paper focuses on the ro...
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ISBN:
(纸本)0819410268
This paper presents results of developing basic control approaches, structures and software tools for the sensory based robot setup programming. The control task decomposition is described. The paper focuses on the robot controller structure and its implementation. The solution of the inverse and direct kinematic problems in simulation tasks for a GMFanuc S-10 robot are suggested. Preliminary results of simulation experiments are presented.
This review represents an extensive and systematicsurvey ofthe tatc ofthe art ofautomated viua1 inspection. This review is divided in two parts: Pazi I involves convethonal methods and Part LI consids approachez to in...
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Surface models embedded in Bayesian or regularization style stereo visionalgorithms bias the solution in a nonviewpoint invariant way. This lack of invariance reveals itself when the surface is computed from differen...
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ISBN:
(纸本)0819410268
Surface models embedded in Bayesian or regularization style stereo visionalgorithms bias the solution in a nonviewpoint invariant way. This lack of invariance reveals itself when the surface is computed from different viewpoints. Using the consistency between views one can try to adapt the prior surface models in a way that renders them more viewpoint invariant. The goal is to be able to adapt the stereo algorithm over time so that the same surface shape is obtained from different views. The method described in this paper uses the surface consistency measure to choose between the solutions provided by a set of simple prior surface models.
We suggest that a `vision front end' processor, or VFE, will be a key element of practical vision systems that perform complex tasks in real time, such as autonomous vehicle driving. The VFE is a specialized image...
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ISBN:
(纸本)0819410268
We suggest that a `vision front end' processor, or VFE, will be a key element of practical vision systems that perform complex tasks in real time, such as autonomous vehicle driving. The VFE is a specialized image processing device located between the cameras and the main visioncomputer. Its functions are to isolate critical image data for subsequent attention-based analysis, and to compute attributes of these data that are required by the system in order to respond quickly to objects or events of interest in the scene. We propose a generic architecture for the VFE, and describe a prototype system that has been built in custom hardware. We show that a compact device can serve multiple vision modalities, including pattern, motion, and stereo vision.
This paper presents a new method for edge detection by combining the Sobel operator and the Laplacian of Gaussian (LoG) operator. The underlying idea is to combine the advantages of both operators and eliminate their ...
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ISBN:
(纸本)0819410268
This paper presents a new method for edge detection by combining the Sobel operator and the Laplacian of Gaussian (LoG) operator. The underlying idea is to combine the advantages of both operators and eliminate their disadvantages. Different methods of combining the two operators are considered. One method yields promising results in precise and blur free edge detection, and good stability versus image noise. A method for designing the LoG kernel is also presented.
This paper presents an effective corner detector based on perceptual organization and a curve tracking scheme. The detector first finds 2-D corners among the curve partitioning points. It then locates 3-D corners by d...
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ISBN:
(纸本)0819410268
This paper presents an effective corner detector based on perceptual organization and a curve tracking scheme. The detector first finds 2-D corners among the curve partitioning points. It then locates 3-D corners by detecting the terminations of tracked curves intersecting at 2-D corners. It then assigns an attribute value according to its perceptual structure to each detected corner. The corner detector is a very important image analysis component in both 2-D and 3- D vision systems. Experimental results demonstrate its effectiveness and robustness.
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