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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and Active vision

作者： Hall, E. L. Ghaffari, M. Liao, X. Ali, S. M. Alhaj Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Zarqa Jordan

ISBN: (纸本)0819464821

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

关键词： intelligent robots adaptive control creative control reinforcement learning adaptive critic

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vision-BASED ORIENTATION AND POSITION DETECTION OF ICS AND PCBS 12

VISION-BASED ORIENTATION AND POSITION DETECTION OF ICS AND P...

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： CHUNG, HK PARK, RH SOGANG UNIV DEPT ELECTR ENGNSEOUL 100611SOUTH KOREA

ISBN: (纸本)0819413208

In this paper, a high-resolution algorithm for detecting the orientation and position of an IC, and an algorithm for compensating the position and skew angle of a PCB, are proposed. The proposed algorithm for the first topic consists of two parts. Its first part is a preprocessing step, in which corner points of an IC are detected and are separated into two groups. Then the coarse angle of the principal axis is obtained by line fitting. The second part is a main processing step, in which the Hough transform over the limited range of angles is applied to the corner points to detect precisely the orientation of an IC or a surface mounting device (SMD). The position of an IC or SMD is determined by using its four corner points. The proposed algorithm for the second topic is the one which detects a rotation angle and translation parameters of a PCB using a template matching method. The PCB is compensated by the detected parameters. The computer simulation shows that the parameters obtained by proposed algorithms are more accurate than those by the several conventional methods considered. The proposed algorithms can be applied to the fast and accurate automatic inspection systems.

关键词： Hough transforms robots Robot vision computer vision technology Machine vision Detection and tracking algorithms Corner detection Inspection Information operations Lead

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

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

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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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The 14^TH Annual intelligent Ground Vehicle Competition:: intelligent teams creating intelligent ground robots

The 14<SUP>TH</SUP> Annual Intelligent Ground Vehicle Compet...

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Conference on intelligent robots and computer vision XXIV - algorithms, techniques, and Active vision

作者： Theisen, Bernard L. Nguyen, Dmitri US Army Tank Automot Res Dev & Engn Ctr 6501 E Eleven Mile Rd Warren MI 48397 USA

ISBN: (纸本)0819464821

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 14 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

关键词： intelligent roboss autonomous systems ground vehicles engineering education IGVC

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BUILDING A SPACE OCCUPANCY MODEL FOR A POWER-LINE MAINTENANCE ROBOT USING A RANGE DATA SENSOR

BUILDING A SPACE OCCUPANCY MODEL FOR A POWER-LINE MAINTENANC...

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CONF ON intelligent robots AND computer vision 10 : algorithms AND techniques

作者： CROTEAU, A LAURENDEAU, D LESSARD, J Univ. Laval (Canada) Institut de Recherche d'Hydro-Quebec (Canada)

ISBN: (纸本)0819407445

A telerobotic system for power-line maintenance is equipped with a laser range-finder allowing it to perform an estimation of its workspace occupancy. This paper describes the model used for describing space occupancy and the 3-D computer vision method developed for extracting this information. It consists in building an octree of the scene from several range images taken from various points of view. A calibration is performed using the first image in order to find the initial position of the camera relative to the scene. Successive 3-D images are used to complete the model information until a satisfying knowledge of the space occupancy is reached.

关键词： Image segmentation 3D modeling Cameras Data modeling Robot vision Sensors Calibration computer vision technology Machine vision Visual process modeling

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GENERAL VISUAL ROBOT CONTROLLER NETWORKS VIA ARTIFICIAL EVOLUTION 12

GENERAL VISUAL ROBOT CONTROLLER NETWORKS VIA ARTIFICIAL EVOL...

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： CLIFF, D HARVEY, I HUSBANDS, P UNIV SUSSEX SCH COGNIT & COMP SCIBRIGHTON BN1 9QHE SUSSEXENGLAND

ISBN: (纸本)0819413208

We discuss recent results from our ongoing research concerning the application of artificial evolution techniques (i.e., an extended form of genetic algorithm) to the problem of developing `neural' network controllers for visually guided robots. The robot is a small autonomous vehicle with extremely low-resolution vision, employing visual sensors which could readily be constructed from discrete analog components. In addition to visual sensing, the robot is equipped with a small number of mechanical tactile sensors. Activity from the sensors is fed to a recurrent dynamical artificial `neural' network, which acts as the robot controller, providing signals to motors governing the robot's motion. Prior to presentation of new results, this paper summarizes our rationale and past work, which has demonstrated that visually guided control networks can arise without any explicit specification that visual processing should be employed: the evolutionary process opportunistically makes use of visual information if it is available.

关键词： Visualization Sensors Chlorine Robot vision Genetic algorithms Device simulation Neural networks computer vision technology Machine vision Network architectures

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Visual terrain mapping for traversable path planning of mobile robots

Visual terrain mapping for traversable path planning of mobi...

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Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Shirkhodaie, A Amrani, R Tunstel, E Tennessee State Univ Dept Mech & Mfg Engn Intelligent Tact Mobil Robot Lab Nashville TN 37209 USA

ISBN: (纸本)081945561X

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

关键词： terrain traversability assessment modeling visual terrain mapping image texture analysis

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3D CAD-based object recognition for a flexible assembly cell

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 167-177页

作者： Najjari, H. Steiner, Simon J. Univ. of Birmingham Birmingham UK

ISBN: (纸本)0819423068;9780819423061

Current developments in the field of automated assembly systems show an increasing interest in systems that are flexible in both CAD based product design and CAD based assembly. For the application addressed in this paper, coupling the vision system and a CAD database is of prime importance in order to achieve the required automatic reconfiguration of the assembly cell when new parts are defined. This paper presents a 3D CAD-based vision system for obtaining 3D data about the scene. After the images are acquired, edge detection is preformed and the detected edges are stored as chaincodes. Following that, a stereo vision algorithm is applied for finding the recognition features. The output are lists of features that are combined into a 3D wireframe representing the scene. The recognition algorithm takes the observed wireframe outputs from the stereo vision system, and compares them with a set of model wireframes derived from previous models, in order to select the 'best match', where the previous models used for recognition are derived from a product data model (PDM). The PDM is an interface between the CAD database and the recognition system, which allows the automatic generation of new models when new parts are introduced into the system. The vision system described in this paper is part of an intelligent robotic assembly cell, where the aim is to build a flexible intelligent robotic assembly cell, such that robots would be able to automatically assemble a random variety of small-batch products.

关键词： computer vision

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INTEGRATION OF A computer vision SYSTEM WITH AN IBM-7535 ROBOT

INTEGRATION OF A COMPUTER VISION SYSTEM WITH AN IBM-7535 ROB...

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： GONZALEZ, O JOHNSON, C STARKS, S Univ. of Texas/El Paso (United States)

ISBN: (纸本)0819404489

A robot is a powerful production tool, however, an "intelligent robot" with flexible control is often needed to acomplish complex tasks and to adapt to changes in its working enviroment. This paper describes the integration of machine vision with a robot to accomplish this. The system integrates an IBM 7535 industrial 7535 Industrial Robot, with four degrees of freedom, with its own programming language, AML/Entry, and a vision System from Intelledex Inc. The IBM has its own programming language AML/ENTRY, as does the Intelledex vision system, vision BASIC. The major objective of the project was to interface the controller of the IBM 7535 robot with host processor (a compatible IBM AT) to a vision system. In an operational scenario, the vision system is tasked with the responsabilities of recognizing an object and determining its location and orientation. Based on this information, the robot is able to pick up the object and transfer it to a pre-defined destination. The paper describes how the interfaces were developed.

关键词： Cameras Machine vision Robot vision Computing systems computer vision technology Calibration Imaging systems computer programming Human-machine interfaces Telecommunications

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PYRAMIDAL NEURO-vision ARCHITECTURE FOR vision MACHINES 12

PYRAMIDAL NEURO-VISION ARCHITECTURE FOR VISION MACHINES

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： GUPTA, MM KNOPF, GK UNIV SASKATCHEWAN COLL ENGNINTELLIGENT SYST RES LABSASKATOON S7N 0W0SASKATCHEWANCANADA

ISBN: (纸本)0819413208

The vision system employed by an intelligent robot must be active; active in the sense that it must be capable of selectively acquiring the minimal amount of relevant information for a given task. An efficient active vision system architecture that is based loosely upon the parallel-hierarchical (pyramidal) structure of the biological visual pathway is presented in this paper. Although the computational architecture of the proposed pyramidal neuro-vision system is far less sophisticated than the architecture of the biological visual pathway, it does retain some essential features such as the converging multilayered structure of its biological counterpart. In terms of visual information processing, the neuro-vision system is constructed from a hierarchy of several interactive computational levels, whereupon each level contains one or more nonlinear parallel processors. Computationally efficient vision machines can be developed by utilizing both the parallel and serial information processing techniques within the pyramidal computing architecture. A computer simulation of a pyramidal vision system for active scene surveillance is presented.

关键词： Machine vision Visualization Robot vision Signal processing computer vision technology computer architecture Computing systems Data processing Information visualization Content addressable memory

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