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2005 IEEE/RSJ International Conference on intelligent robots and Systems

作者： K. Saitwal A.A. Maciejewski R.G. Roberts Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA Department of Electrical and Computer Engineering Florida A&M University-Florida State University Tallahassee FL USA

Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computer vision and robotics applications. The left singular vectors represent the eigenimages, while the right singular vectors represent the temporal properties of the video sequence. It is obvious that spatial reduction techniques affect the left singular vectors; however, the extent of their effect on the right singular vectors is not clear. Understanding how the right singular vectors are affected is important because many SVD algorithms rely on computing them as an intermediate step to computing the eigenimages. The work presented here quantifies the effects of different spatial resolution reduction techniques on the right singular vectors that are computed from those video sequences. Examples show that using random sampling for spatial resolution reduction rather than a low-pass filtering technique results in less perturbation of the temporal properties.

关键词： Spatial resolution Video sequences Frequency computer vision Robot vision systems Application software Face detection Collaborative work Government Image resolution

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PRoViScout - a Planetary Scouting Rover Demonstrator

PRoViScout - a Planetary Scouting Rover Demonstrator

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Conference on intelligent robots and computer vision XXIX - algorithms and techniques

作者： Paar, Gerhard Woods, Mark Gimkiewicz, Christiane Labrosse, Frederic Medina, Alberto Tyler, Laurence Barnes, David P. Fritz, Gerald Kapellos, Konstantinos JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Aberystwyth Univ Aberystwyth Dyfed Wales GMVc Isaac Newton Tres Cantos 28760 Spain TRASYS Space B-1560 Hoeilaart Belgium

ISBN: (纸本)9780819489487

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

关键词： Planetary rover autonomous navigation robotic vision planning 3D-TOF Mars exploration decision making planetary science science interest

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A computer vision Algorithm for Path Planning in Mobile robots

A Computer Vision Algorithm for Path Planning in Mobile Robo...

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Pervasive and intelligent Computing (PICom), IEEE Conference on

作者： Claudio Ruggieri Miriana Russo Corrado Santoro Federico Fausto Santoro STMicroelectronics System Research and Application Catania Italy Department of Mathematics and Informatics University of Catania Catania Italy

ISBN: (数字)9798331522742

ISBN: (纸本)9798331522759

In robotics, route planning is essential to ensure the safe and efficient movement of robots within the workplace. This process involves determining a trajectory, usually a series of points in the workspace, to achieve a specific goal. It is essential to consider criteria such as reducing the length of the route, the number of manoeuvres and the avoidance of obstacles. Route planning techniques generally require modelling the environment, representing both the structure and the obstacles (fixed or mobile), and the implementation of algorithms that generate the trajectory through the free areas of the environment. This approach often includes constructing a graph of possible trajectories and using minimum path search algorithms, such as A*. This article presents a route planning algorithm that uses Voronoi diagrams and uses artificial vision algorithms. In addition, a case study is described in which the proposed technique is applied to guide an automated system through a maze drawn on a whiteboard by a user.

关键词： Machine learning algorithms Accuracy Heuristic algorithms Machine vision Machine learning User interfaces Planning Trajectory Mobile robots Proposals

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A General Model and Calibration Method for Spherical Stereoscopic vision

A General Model and Calibration Method for Spherical Stereos...

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Conference on intelligent robots and computer vision XXIX - algorithms and techniques

作者： Feng, Weijia Roning, Juha Kannala, Juho Zong, Xiaoning Zhang, Baofeng Tianjin Univ State Key Lab Precis Measuring Technol & Instrume Tianjin 300072 Peoples R China Oulu Univ Infotech Oulu Oulu Finland Oulu Univ Elect & Informat Engn Dept Oulu Finland

ISBN: (纸本)9780819489487

In geometric calibration of stereoscopic cameras the object is to determine a set of parameters which describe the mapping from 3D reference coordinates to 2D image coordinates, and indicate the geometric relationships between the cameras. While various methods for stereo cameras with ordinary lenses can be found from the literature, stereoscopic vision with extremely wide angle lenses has been much less discussed. Spherical stereoscopic vision is more and more convenient in computer vision applications. However, its use for 3D measurement purposes is limited by the lack of an accurate, general, and easy-to-use calibration procedure. Hence, we present a geometric model for spherical stereoscopic vision equipped by extremely wide angle lenses. Then, a corresponding generic mathematical model is built. Method for calibration the parameters of the mathematical model is proposed. This paper shows practical results from the calibration of two high quality panomorph lenses mounted on cameras with 2048x1536 resolutions. Here, the stereoscopic vision system is flexible, the position and orientation of the cameras can be adjusted randomly. The calibration results include interior orientation, exterior orientation and the geometric relationships between the two cameras. The achieved level of calibration accuracy is very satisfying.

关键词： spherical stereoscopic vision panomorph lens general geometric and mathematical model parameter calibration

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Calibration and three-dimensional reconstruction with a photorealistic simulator based on the omnidirectional vision system

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2021年第6期18卷

作者： Kholodilin, Ivan Li, Yuan Wang, Qinglin Bourke, Paul David Beijing Inst Technol Sch Automat State Key Lab Intelligent Control & Decis Complex 5 South St Beijing 100081 Peoples R China Univ Western Australia Fac Arts Business Law & Educ Sch Social Sci Off Nedlands WA Australia

Recent advancements in deep learning require a large amount of the annotated training data containing various terms and conditions of the environment. Thus, developing and testing algorithms for the navigation of mobile robots can be expensive and time-consuming. Motivated by the aforementioned problems, this article presents a photorealistic simulator for the computer vision community working with omnidirectional vision systems. Built using unity, the simulator integrates sensors, mobile robots, and elements of the indoor environment and allows one to generate synthetic photorealistic data sets with automatic ground truth annotations. With the aid of the proposed simulator, two practical applications are studied, namely extrinsic calibration of the vision system and three-dimensional reconstruction of the indoor environment. For the proposed calibration and reconstruction techniques, the processes themselves are simple, robust, and accurate. Proposed methods are evaluated experimentally with data generated by the simulator. The proposed simulator and supporting materials are available online: http://***.

关键词： Calibration measurements omnidirectional vision simulation structured light

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techniques for evaluating optical flow for visual odometry in extreme terrain

Techniques for evaluating optical flow for visual odometry i...

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2004 IEEE/RSJ International Conference on intelligent robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： J. Campbell R. Sukthankar I. Nourbakhsh Robotics Institute Carnegie Mellon Pittsburgh PA USA Intel Research Pittsburgh Pittsburgh PA USA NASA Ames Research Center Moffett Field Moffett Field CA USA

Motion vision (visual odometry, the estimation of camera egomotion) is a well researched field, yet has seen relatively limited use despite strong evidence from biological systems that vision can be extremely valuable for navigation. The limited use of such vision techniques has been attributed to a lack of good algorithms and insufficient computer power, but both of those problems were resolved as long as a decade ago. A gap presently yawns between theory and practice, perhaps due to perceptions of robot vision as less reliable and more complex than other types of sensing. We present an experimental methodology for assessing the real world precision and reliability of visual odometry techniques in both normal and extreme terrain. This paper evaluates the performance of a mobile robot equipped with a simple vision system in common outdoor and indoor environments, including grass, pavement, ice, and carpet. Our results show that motion vision algorithms can be robust and effective, and suggest a number of directions for further development.

关键词： Image motion analysis Ultraviolet sources Machine vision Biomedical optical imaging Optical sensors Motion estimation Cameras Biological systems Navigation Biology computing

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intelligent Unmanned Ground Vehicles 1

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丛书名： The Springer International Series in Engineering and computer Science

1000年

作者： Martial H. Hebert Charles Thorpe Anthony Stentz

ISBN: (数字)9781461563259

ISBN: (纸本)9780792398332;9781461379041

describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines.;shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator.;The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

关键词： Theory of Computation Artificial Intelligence Mechanical Engineering computer Imaging, vision, Pattern Recognition and Graphics

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Euclidean reconstruction independent on camera intrinsic parameters

Euclidean reconstruction independent on camera intrinsic par...

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IEEE International Workshop on intelligent robots and Systems (IROS)

作者： E. Malis A. Bartoli I.N.R.I.A. Sophia-Antipolis France INRlA Rhone-Alpes France

Standard bundle adjustment techniques for Euclidean reconstruction consider camera intrinsic parameters as unknowns in the optimization process. Obviously, the speed of an optimization process is directly related to the number of unknowns and to the form of the cost function. The scheme proposed in this paper differs from previous standard techniques since unknown camera intrinsic parameters are not considered in the optimization process. Considering fewer unknowns in the optimization process produces a faster algorithm, which is more adapted to time-dependent applications such as robotics. Computationally expensive metric reconstruction, using for example several zooming cameras, considerably benefits from an intrinsics-free bundle adjustment.

关键词： Cameras Image reconstruction Cost function Robot vision systems Computational efficiency Reconstruction algorithms Layout Predictive models computer applications computer vision

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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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Smart gas sensor arrays powered by artificial intelligence

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Journal of Semiconductors 2019年第11期40卷 3-12页

作者： Zhesi Chen Zhuo Chen Zhilong Song Wenhao Ye Zhiyong Fan HKUST-Shenzhen Research Institute Shenzhen 518057China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology(HKUST)Hong KongChina

Mobile robots behaving as humans should possess multifunctional flexible sensing systems including vision,hearing,touch,smell,and taste.A gas sensor array(GSA),also known as electronic nose,is a possible solution for a robotic olfactory system that can detect and discriminate a wide variety of gas *** intelligence(AI)applied to an electronic nose involves a diverse set of machine learning algorithms which can generate a smell print by analyzing the signal pattern from the GSA.A combination of GSA and AI algorithms can empower intelligent robots with great capabilities in many areas such as environmental monitoring,gas leakage detection,food and beverage production and storage,and especially disease diagnosis through detection of different types and concentrations of target gases with the advantages of portability,low-powerconsumption and *** is exciting to envisage robots equipped with a"nose"acting as family doctor who will guard every family member's health and keep their home *** this review,we give a summary of the state-of the-art research progress in the fabrication techniques for GSAs and typical algorithms employed in artificial olfactory systems,exploring their potential applications in disease diagnosis,environmental monitoring,and explosive *** also discuss the key limitations of gas sensor units and their possible ***,we present the outlook of GSAs over the horizon of smart homes and cities.

关键词： mobile robots gas sensor array electronic nose artificial intelligence environmental monitoring disease diagnosis

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