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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 567-569页

作者： Martyshevcky, Yuri V. Tomsk State Acad. of Control System and Radio Electronics Tomsk Russia

ISBN: (纸本)0819423068;9780819423061

An automatic raw material selector into 3-4 groups depending on the crystal shape is developed. As signs of selection there are used dimensions of the crystal image, position of the image center in the bearing plan as well as dimensions and proportion of two interperpendicular chords crossing the image center. The device sorts out into 3-4 groups 8 crystals per second.

关键词： computer vision

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intelligent robot control using an adaptive critic with a task control center and dynamic database

Intelligent robot control using an adaptive critic with a ta...

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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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Improving Shape Context Using Geodesic Information And Reflection Invariance

Improving Shape Context Using Geodesic Information And Refle...

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

作者： Premachandran, Vittal Kakarala, Ramakrishna Nanyang Technol Univ Sch Comp Engn Singapore 639798 Singapore

ISBN: (纸本)9780819494351

In this paper, we identify some of the existing problems in shape context matching. We first identify the need for reflection invariance in shape context matching algorithms and propose a method to achieve the same. With the use of these reflection invariance techniques, we bring all the objects, in a database, to their canonical form, which halves the time required to match two shapes using their contexts. We then show how we can build better shape descriptors by the use of geodesic information from the shapes and hence improve upon the well-known Inner Distance Shape Context (IDSC). The IDSC is used by many pre- and post-processing algorithms as the baseline shape-matching algorithm. Our improvements to IDSC will remain compatible for use with those algorithms. Finally, we introduce new comparison metrics that can be used for the comparison of two or more algorithms. We have tested our proposals on the MPEG-7 database and show that our methods significantly outperform the IDSC.

关键词： object recognition shape matching shape descriptor computer vision

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intelligent PACKAGING AND MATERIAL HANDLING

INTELLIGENT PACKAGING AND MATERIAL HANDLING

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

作者： HALL, E SHELL, R SLUTZKY, G Univ. of Cincinnati (United States)

ISBN: (纸本)0819404489

The problem of palletizing (stacking on a pallet) randomly arriving mixed size and content parcels is an important task in most distribution warehouses. Today this task requires human interaction for a solution however recently several attempts have been made to automate the solution. The purpose of this paper is to present an overview of the problem an expert system approach and an estimate of the key subproblems which have been identified which are necessary for a solution. The concepts of space filling and emptying as encountered in warehousing are briefly described. Also brief descriptions of two generations of a robotic system for mixed parcel palletizing are presented. The results with these test systems indicate that automatic parcel handling at speeds comparable to humans is feasible however further work is required to obtain a robust solution.

关键词： robots Sensors Robot vision Computing systems Packaging 3D metrology Intelligence systems Object recognition Machine vision Algorithm development

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Comparison of supervised learning techniques applied to color segmentation of fruit images

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 370-381页

作者： Power, P.Wayne Clist, Roger S. Industrial Research Ltd. Auckland 1 NZ

ISBN: (纸本)0819423068;9780819423061

This paper describes the use of color segmentation to assist the detection of blemishes and other defects on fruit. It discusses the advantages and disadvantages of different color spaces including RGB and HSI and different supervised learning techniques including maximum likelihood, nearest neighbor and neural networks. It then compares the performance of various combinations of these on the same training and test set. A selection of images segmented by the best combination is presented and conclusions made.

关键词： Color image processing

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CLUSTERING METHODS FOR REMOVING OUTLIERS FROM vision-BASED RANGE ESTIMATES 10

CLUSTERING METHODS FOR REMOVING OUTLIERS FROM VISION-BASED R...

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CONF ON intelligent robots AND computer vision 10 : NEURAL, BIOLOGICAL, AND 3-D METHODS

作者： HUSSIEN, B SUORSA, R NASA/Ames Research Ctr. (United States)

ISBN: (纸本)0819407453

The automation of rotorcraft low-altitude flight presents challenging problems in flight control and sensor systems. The currently explored approach uses one or more passive sensors, such as a television camera, to extract environmental obstacle information. Obstacle imagery can be processed using a variety of computer vision techniques to produce a time-varying map of range to obstacles in the sensor's field of view along the helicopter flight path. To maneuver in tight space, obstacle-avoidance methods would need very reliable range map information by which to guide the helicopter through the environment. In general, most low level computer vision techniques generate sparse range maps which include at least a small percentage of bad estimates (outliers). This paper examines two related techniques which can be used to eliminate outliers from a sparse range map. Each method clusters sparse range map information into different spatial classes relying on a segmented and labeled image to help in spatial classification within the image plane.

关键词： Image segmentation Fuzzy logic computer vision technology Machine vision Image processing Image processing algorithms and systems robots Robot vision algorithms Annealing

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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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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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LINE GROUPING USING PERCEPTUAL SALIENCY AND STRUCTURE PREDICTION FOR CAR DETECTION IN TRAFFIC SCENES 12

LINE GROUPING USING PERCEPTUAL SALIENCY AND STRUCTURE PREDIC...

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

作者： DENASI, S QUAGLIA, G IST ELETTROTECNICO NAZL GALILEO FERRARIS I-10135 TURINITALY

ISBN: (纸本)0819413208

Autonomous and guide assisted vehicles make a heavy use of computer vision techniques to perceive the environment where they move. In this context, the European PROMETHEUS program is carrying on activities in order to develop autonomous vehicle monitoring that assists people to achieve safer driving. Car detection is one of the topics that are faced by the program. Our contribution proposes the development of this task in two stages: the localization of areas of interest and the formulation of object hypotheses. In particular, the present paper proposes a new approach that builds structural descriptions of objects from edge segmentations by using geometrical organization. This approach has been applied to the detection of cars in traffic scenes. We have analyzed images taken from a moving vehicle in order to formulate obstacle hypotheses: preliminary results confirm the efficiency of the method.

关键词： Image segmentation Roads computer vision technology Machine vision Robot vision robots Image processing Computing systems Visual system Visual process modeling

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GENERAL LEARNING SCHEME FOR ROBOT COORDINATE TRANSFORMATIONS USING DYNAMIC NEURAL-NETWORK 12

GENERAL LEARNING SCHEME FOR ROBOT COORDINATE TRANSFORMATIONS...

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

作者： GUPTA, MM RAO, DH UNIV SASKATCHEWAN COLL ENGNINTELLIGENT SYST RES LABSASKATOON S7N 0W0SASKATCHEWANCANADA

ISBN: (纸本)0819413208

By virtue of their functional approximation, learning and adaptive capabilities, the computational neural networks can be suitably employed for learning robot coordinate transformations. The major drawback of conventional static feedforward neural networks based on back-propagation learning algorithm is in their very large convergence time for a given task. Any attempts to accelerate the learning process by increasing the values of learning constants in the algorithm often result in unstable systems. The intent of this paper is to describe a neural network structure called dynamic neural processor (DNP), and examine briefly how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the DNP, are described. computer simulations are provided to demonstrate the effectiveness of the proposed learning scheme using the DNP.

关键词： Neurons Neural networks Robot vision Kinematics computer vision technology Machine vision Algorithm development Evolutionary algorithms Robotics computer simulations

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