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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Gouiffes, M. Patri, A. Vasiliu, M. Univ Paris 11 Inst Elect Fondamentale UMR 8622 F-91405 Orsay France

ISBN: (纸本)9780819479327

This paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity(9) designed for in-vehicle stereovision, we propose a robust procedure to detect the objects located on the road plane. This detection is used as an initialization stage for a real-time template matching procedure based on the minimizing of a weighted cost function. An appropriate update of the weights, based upon the quality of the previous matching and depth information, allows to track efficiently non-rigid objects in front of a clutter background. Sequences involving pedestrians are used to demonstrate the efficiency of our procedure.

关键词： uv-disparity obstacle detection intelligent vehicle robust temporal tracking

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Engineering Robust intelligent robots

Engineering Robust Intelligent Robots

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Hall, E. L. Ali, S. M. Alhaj Ghaffari, M. Liao, X. Cao, M. Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Jordanstown North Ireland

ISBN: (纸本)9780819479327

The purpose of this paper is to discuss the challenge of engineering robust intelligent robots. Robust intelligent robots may be considered as ones that not only work in one environment but rather in all types of situations and conditions. Our past work has described sensors for intelligent robots that permit adaptation to changes in the environment. We have also described the combination of these sensors with a "creative controller" that permits adaptive critic, neural network learning, and a dynamic database that permits task selection and criteria adjustment. However, the emphasis of this paper is on engineering solutions which are designed for robust operations and worst case situations such as day night cameras or rain and snow solutions. This ideal model may be compared to various approaches that have been implemented on "production vehicles and equipment" using Ethernet, CAN Bus and JAUS architectures and to modern, embedded, mobile computing architectures. Many prototype intelligent robots have been developed and demonstrated in terms of scientific feasibility but few have reached the stage of a robust engineering solution. Continual innovation and improvement are still required. The significance of this comparison is that it provides some insights that may be useful in designing future robots for various manufacturing, medical, and defense applications where robust and reliable performance is essential.

关键词： intelligent robots robust engineering eclecticism creative control reinforcement learning adaptive critic

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Real-Time 3D Environment Model for Obstacle Detection and Collision Avoidance with a Mobile Service Robot

Real-Time 3D Environment Model for Obstacle Detection and Co...

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Kuehnle, J. U. Danzer, M. Verl, A. Bischoff, R. Fraunhofer Inst Mfg Engn & Automat IPA Nobelstr 12 D-70569 Stuttgart Germany KUKA Roboter GmbH D-86165 Augsburg Germany

ISBN: (纸本)9780819479327

In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.

关键词： 3D environment model obstacle detection collision avoidance mobile service robots 3D time-of-flight camera general-purpose computation on graphics processing unit

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Flexible inline low cost inspection station

Flexible inline low cost inspection station

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Sung, Chen-Ko Fraunhofer Inst Informat & Data Proc IITB D-76131 Karlsruhe Germany

ISBN: (纸本)9780819479327

A possibility to reduce the investment costs is an improved functionality of the inspection station in order to awaken investors' interest to buy. A new concept for 2-D and 3-D metric and logical quality monitoring with a more accurate, flexible, economical and efficient inspection station has been developed and tested at IITB. The inspection station uses short- and wide-range sensors, an intelligent grip system and a so-called "sensor magazine" which make the inspection process more flexible. The sensor magazine consists of various sensor ports with various task-specific, interchangeable sensors. With the sensor magazine and the improved measuring methods, the testing periods and therefore the costs in factory can be substantially decreased.

关键词： Multi sensors wide- and short-range sensors intelligent grip system sensor magazine learning-capable evaluation processes flexible inline quality monitoring robot dynamic and automatic path planning

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The Design and Results of an Algorithm for intelligent Ground Vehicles

The Design and Results of an Algorithm for Intelligent Groun...

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Duncan, Matthew Milam, Justin Tote, Caleb Riggins, Robert N. Bluefield State Coll Bluefield WV USA

ISBN: (纸本)9780819479327

This paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. The Bluefield State College (BSC) team created this algorithm for its 2009 intelligent Ground Vehicle Competition (IGVC) robot called Anassa V. The BSC robotics team is comprised of undergraduate computer science, engineering technology, marketing students, and one robotics faculty advisor. The team has participated in IGVC since the year 2000. A major part of the design process that the BSC team uses each year for IGVC is a fully documented "Post-IGVC Analysis." Over the nine years since 2000, the lessons the students learned from these analyses have resulted in an ever-improving, highly successful autonomous algorithm. The algorithm employed in Anassa V is a culmination of past successes and new ideas, resulting in Anassa V earning several excellent IGVC 2009 performance awards, including third place overall. The paper will discuss all aspects of the design of this autonomous robotic system, beginning with the design process and ending with test results for both simulation and real environments.

关键词： Robot intelligent Ground Vehicle Sensor Integration vision System Mapping IGVC Path Planning

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Improved single-camera stereo system for mobile robotics

Improved single-camera stereo system for mobile robotics

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Lovegrove, William P. McGary, Patrick D. Austin, Kelly Bob Jones Univ Greenville SC 29614 USA

ISBN: (纸本)9780819479327

A single-camera stereo vision system offers a greatly simplified approach to image capture and analysis. In the original study by Lovegrove and Brame, they proposed a novel optical system that uses a single camera to capture two short, wide stereo images that can then be analyzed for real-time obstacle detection. In this paper, further analysis and refinement of the optical design results in two virtual cameras with perfectly parallel central axes. A new prototype camera design provides experimental verification of the analysis and also provides insight into practical construction. The experimental device showed that the virtual cameras' axes possessed a deviation from parallel of less than 12 minutes (or 0.2 degrees). The calculation of distances to objects from the two overlapping images all showed errors smaller than the pixel resolution limitation. In addition, a barrel lens correction was used in processing the image to allow parallax distance determination in the whole horizontal view of the images.

关键词： stereo vision single camera stereo pair mobile robot obstacle detection computer vision

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Model-based human face recognition in intelligent 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 88-99页

作者： Cai, Defu Liang, Huiying Wang, Xiangwen Chen, Jiaofan Inst. of Electronics Beijing China

ISBN: (纸本)0819423068;9780819423061

The face recognition, one of the most important ability of intelligent vision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine matching, and feature points extraction etc. are given. Finally, a rapid and robust scheme for human face recognition are resulted.

关键词： Pattern recognition

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Dynamic vision systems for intelligent robots

Dynamic vision systems for intelligent robots

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Conference on intelligent robots and computer vision XX: algorithms, techniques, and Active vision

作者： Nguyen, MC Bui, DT TUM Dept Comp Sci Munich Germany

ISBN: (纸本)081944300X

The logical structure of robot vision systems is introduced. It can be used as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four hierarchical levels where at each level knowledge representation in the form of partial models and data fusion complement each other. Multi-processor architectures supporting this type of structure are introduced as a particularly efficient basis for robot vision systems. Practical implementation is given.

关键词： dynamic vision systems intelligent robots robot vision

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A real time vehicles tracking system for an outdoor mobile robot

A real time vehicles tracking system for an outdoor mobile r...

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

作者： Ge, Kanbing Forging Ctr Co Ltd Osaka Japan

This paper describes progress toward a street-crossing system for an outdoor mobile robot. The system can detect and track vehicles in real time. It reasons about extracted motion regions to decide when it is safe to ... 详细信息

ISBN: (纸本)9780819469243

关键词： mobile robots street crossing computer vision vehicle tracking

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Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

Synchronizing real and predicted synthetic video imagery for...

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Lyons, Damian M. Chaudhry, Sirhan Benjamin, D. Paul Fordham Univ Robot & Comp Lab Bronx NY 10458 USA PACE Univ Dept Comp Sci New York NY 10023 USA

ISBN: (纸本)9780819479327

A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In previous work, we presented an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduced an approach to compare real and simulated imagery using an affine image transformation that maps the real scene to the synthetic scene in a robust fashion. In this paper, we present an approach to continually synchronize the real and synthetic video by mapping the affine transformation yielded by the real/synthetic image comparison to a new pose for the synthetic camera. We show a series of results for pairs of real and synthetic scenes containing objects including similar and different scenes.

关键词： Cognitive robotics robot simulation synthetic video motion detection computer vision robot localization

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