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

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Design of large-window binary filters via iteration

Design of large-window binary filters via iteration

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

作者： Hirata, Nina S.T. Dougherty, Edward R. Barrera, Junior Universidade de Sao Paulo Sao Paulo Brazil

Rather than design an optimal filter over a large window, which may be computationally impossible or require unacceptable computation time, one can design an iterative filter, each stage of which is designed over a small window with acceptable design time. Theoretically, a two-stage iterative filter with each stage optimally designed over a window is suboptimal in comparison to the optimal filter over the larger window formed as the dilation of the small window with itself. In practice, however, filters are designed from realizations and lack of precision for design over a large window can result in a directly estimated optimal filter over a large window that performs worse than an iteratively designed filter. Using image-noise models, this paper considers three cases: (1) the designed filters are good estimates of the theoretically optimal filters, the two-stage iterative filter is close to optimal, and as further iterations are considered for both the small and large windows, the performance difference becomes small;(2) the designed filter over the large window is a poor estimate of the theoretically optimal filter and the iteratively designed filter outperforms the directly designed filter;(3) iteration cannot do well because the iteration window is too small for the image-noise model. We will see that, while in terms of logic there may be a significant difference between a noniterative and an approximating iterative filter, their probabilistic difference as operators on random processes can be negligible.

关键词： computer vision

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Calibration of the spherical pointing motor

Calibration of the spherical pointing motor

引用

intelligent robots and computer vision XI: algorithms, techniques, and Active vision

作者： Bederson, Benjamin B. Wallace, Richard S. Schwartz, Eric L. Bell Communications Research New York NY USA

ISBN: (纸本)0819410268

We have built a new miniature pan-tilt actuator, the spherical pointing motor (SPM). The SPM is an absolute positioning device, designed to orient a small camera sensor in two degrees of rotational freedom. The basic idea is to orient a permanent magnet to the magnetic field induced by three orthogonal coils by applying the appropriate ratio of currents to the coils. The function describing the relation between the coil currents and the resultant motor position can be calculated, but it is not very accurate as the actual coils do not exactly satisfy the assumptions made in these calculations. The motor must be calibrated to find the coil currents accurately. This paper describes a procedure for automatic calibration of the SPM. It is based on image feedback from a camera returning space-variant images, mounted on the rotor of the motor. It assumes that a calibrated image sensor and lens are used, i.e., that it is known how many degrees each pixel subtends. It also assumes that the camera rotates about its focal point. The calibration algorithm uses a scene of black dots on a white background. For each motor position that is to be calibrated, the algorithm moves the motor approximately to that position using the calculated currents. The algorithm analyzes the image, and uses the position of the relevant dot to calculate the actual position of the motor. It then associates this position with the coil currents and stores it in a look-up-table. Finally, we interpolate between calibrated points to move to other positions.

关键词： computer vision

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Algorithm for the recognition of the usefulness of objects in actions

Algorithm for the recognition of the usefulness of objects i...

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intelligent robots and computer vision X: algorithms and techniques

作者： Jaulent, Marie-Christine Vaina, Lucia M. Hospital Broussais Paris France

ISBN: (纸本)0819407445

A main goal of robotics is to impart in machines an ability to intelligently interact with their environments. In this study we present a system (and an implementation of it) which evaluates the compatibility between objects and specific goal oriented action requirements for carrying out hand-actions. The system is an extension in the framework of fuzzy sets and possibility theory of our model of functional recognition of objects. The system operates on a hierarchical description of objects and action requirements which are mapped into a functional compatibility domain. We show that what computations are actually carried out by the algorithm depends on the application. When the system is used for inspection, it probably knows the identity of the object and its task is only to verify whether the object is in a state that allows its use in the prototypical action for which it has been designed. When the system is used for categorization purposes it needs to identify the existence of features compatible with the action requirements and it verifies that features which prevent carrying out the action cannot be identified. This latter case is particularly interesting and computationally challenging since the system is asked to compute the auxiliary, or possible functions of an object in addition to the prototypical function. The computation of the auxiliary functions relies on the description of the object's parts and subparts.

关键词： robots

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Enhanced multiprobing recovering algorithm based on color mixed nonlinear modulation and its application in a 3D vision system

Enhanced multiprobing recovering algorithm based on color mi...

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

作者： Xu, Z. Heinol, Horst G. Schwarte, Rudolf Loffeld, Otmar Univ. Siegen Siegen Ger

ISBN: (纸本)0819419524

The paper introduces a fast and enhanced recovering algorithm and its application in an active 3D-color vision system. The algorithm is based on the processing of several non-linearly modulated optical test signals of different colors. The processing approach arises from minimizing errors caused by using non-linear modulators in an active vision system, i.e., recovering 3D properties from higher order terms of a Fourier series expansion of the non-linear modulation. Two aspects are worth mentioning: Firstly, the modulation depth of non-linear optical components such as Pockels cells can be exploited much beyond the linear region if assisted by the appropriate recovering algorithm and thus increasing the effective aperture of the optical system. Secondly, the same algorithm can be adaptive to a synthetic non-linear modulation, i.e., the various incoherent signals used as color probes are synchronously modulated each with different characterizing rf signals by means of corresponding optical modulators. These signals are then further incoherently superposed in the transmission medium. After having been reflected from and interacted with the object of interest, the selectively attenuated signals are demodulated using a single modulator. In this process phase, color and other information are simultaneously demodulated. Therefore a single black-white CCD camera may be utilized to sample the 2D-rf interferograms, which are fast and analytically processed by the proposed algorithm in order to extract 3D ranges, colors, and other properties of the interesting object.

关键词： computer vision

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Neural network system for purposeful behavior based on foveal visual preprocessor

Neural network system for purposeful behavior based on fovea...

引用

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

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

ISBN: (纸本)0819423068

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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Automatic sensor placement

Automatic sensor placement

引用

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

作者： Abidi, Besma A. Univ. of Tennessee/Knoxville Knoxville TN USA

ISBN: (纸本)0819419524

Active sensing is the process of exploring the environment using multiple views of a scene captured by sensors from different points in space under different sensor settings. Applications of active sensing are numerous and can be found in the medical field (limb reconstruction), in archeology (bone mapping), in the movie and advertisement industry (computer simulation and graphics), in manufacturing (quality control), as well as in the environmental industry (mapping of nuclear dump sites). In this work, the focus is on the use of a single vision sensor (camera) to perform the volumetric modeling of an unknown object in an entirely autonomous fashion. The camera moves to acquire the necessary information in two ways: (a) viewing closely each local feature of interest using 2D data;and (b) acquiring global information about the environment via 3D sensor locations and orientations. A single object is presented to the camera and an initial arbitrary image is acquired. A 2D optimization process is developed. It brings the object in the field of view of the camera, normalizes it by centering the data in the image plane, aligns the principal axis with one of the camera's axes (arbitrarily chosen), and finally maximizes its resolution for better feature extraction. The enhanced image at each step is projected along the corresponding viewing direction. The new projection is intersected with previously obtained projections for volume reconstruction. During the global exploration of the scene, the current image as well as previous images are used to maximize the information in terms of shape irregularity as well as contrast variations. The scene on the borders of occlusion (contours) is modeled by an entropy-based objective functional. This functional is optimized to determine the best next view, which is recovered by computing the pose of the camera. A criterion based on the minimization of the difference between consecutive volume updates is set for termination of the explo

关键词： computer vision

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Color line-scan technology in industrial applications

Color line-scan technology in industrial applications

引用

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

作者： Lemstrom, Guy F. T.V.I.-Temet Vision Industry Oy Helsinki Finl

ISBN: (纸本)0819419524

Color machine vision opens new possibilities for industrial on-line quality control applications. With color machine vision it's possible to detect different colors and shades, make color separation, spectroscopic applications and at the same time do measurements in the same way as with gray scale technology. These can be geometrical measurements such as dimensions, shape, texture etc. By combining these technologies in a color line scan camera, it brings the machine vision to new dimensions of realizing new applications and new areas in the machine vision business. Quality and process control requirements in the industry get more demanding every day. Color machine vision can be the solution for many simple tasks that haven't been realized with gray scale technology. The lack of detecting or measuring colors has been one reason why machine vision has not been used in quality control as much as it could have been. Color machine vision has shown a growing enthusiasm in the industrial machine vision applications. Potential areas of the industry include food, wood, mining and minerals, printing, paper, glass, plastic, recycling etc. Tasks are from simple measuring to total process and quality control. The color machine vision is not only for measuring colors. It can also be for contrast enhancement, object detection, background removing, structure detection and measuring. Color or spectral separation can be used in many different ways for working out machine vision application than before. It's only a question of how to use the benefits of having two or more data per measured pixel, instead of having only one as in case with traditional gray scale technology. There are plenty of potential applications already today that can be realized with color vision and it's going to give more performance to many traditional gray scale applications in the near future. But the most important feature is that color machine vision offers a new way of working out applications, where mach

关键词： computer vision

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Feature spacing trajectory representation and processing for active vision

Feature spacing trajectory representation and processing for...

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

作者： Casasent, David P. Sipe, Michael Carnegie Mellon Univ. Pittsburgh PA USA United States

ISBN: (纸本)0819423068

A new feature space trajectory (FST) description of 3D distorted views of an object is advanced for active vision applications. In an FST, different distorted object views are vertices in feature space. A new eigen-feature space and Fourier transform features are used. Vertices for different adjacent distorted views are connected by straight lines so that an FST is created as the viewpoint changes. Each different object is represented by a distinct FST. An object to be recognized is represented as a point in feature space;the closest FST denotes the class of the object, and the closest line segment on the FST indicates its pose. A new neural network is used to efficiently calculate distances. We discuss its uses in active vision. Apart from an initial estimate of object class and pose, the FST processor can specify where to move the sensor to: confirm class and pose, to grasp the object, or to focus on a specific object part for assembly or inspection. We advance initial remarks on the number of aspect views needed and which aspect views are needed to represent an object. We note the superiority of our eigenspace for discrimination, how it can provide shift invariance, and how the FST overcomes problems associated with other classifiers.

关键词： computer vision

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A target detection method in multimodal images with complex backgrounds and different views

A target detection method in multimodal images with complex ...

引用

IS&T/SPIE Electronic Imaging

作者： He, Zhixiang Ding, Xiaoqing State Key Laboratory of Intelligent Technology and Systems Department of Electronic Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9780819484154

Target detection in multimodal (multisensor) images is a difficult problem especially with the impact of different views and the complex backgrounds. In this paper, we propose a target detection method based on ground region matching and spatial constraints to solve it. First, the extrinsic parameters of camera are used to transform the images to reduce the impact of viewpoints differences. Then the stable ground object regions are extracted by MSER. Those regions are used to build a graph model to describe the reference image with spatial constraints to reduce the impact of multimodal and complex backgrounds. At last, the ground region matching and the model registration with sensed images are used to find the target. Using this method, we overcome those difficulties and obtain a satisfied experiment result;the final detection rate is 94.34% in our data set of visible reference images in top views and infrared sensed images in side views. © 2011 SPIE-IS&T.

关键词： Graph theory

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Generic motion platform for active vision

Generic motion platform for active vision

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

作者： Weiman, Carl F. Vincze, Markus HelpMate Robotics Inc. Danbury CT USA United States

ISBN: (纸本)0819423068

The term 'active vision' was first used by Bajcsy at a NATO workshop in 1982 to describe an emerging field of robot vision which departed sharply from traditional paradigms of image understanding and machine vision. The new approach embeds a moving camera platform as an in-the-loop component of robotic navigation or hand-eye coordination. Visually served steering of the focus of attention supersedes the traditional functions of recognition and gaging. Custom active vision platforms soon proliferated in research laboratories in Europe and North America. In 1990 the National Science Foundation funded the design of a common platform to promote cooperation and reduce cost in active vision research. This paper describes the resulting platform. The design was driven by payload requirements for binocular motorized C-mount lenses on a platform whose performance and articulation emulate those of the human eye-head system. The result was a 4-DOF mechanisms driven by servo controlled DC brush motors. A crossbeam supports two independent worm-gear driven camera vergence mounts at speeds up to 1,000 degrees per second over a range of ± 90 degrees from dead ahead. This crossbeam is supported by a pan-tilt mount whose horizontal axis intersects the vergence axes for translation-free camera rotation about these axes at speeds up to 500 degrees per second.

关键词： computer vision

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