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

作者： CASASENT, D NEIBERG, L NATARAJAN, S Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819407453

We consider analog neural network implementations (using VLSI or optical technologies) with limited accuracy and various noise and nonlinearity error sources. algorithms and techniques to achieve high performance (good recognition P'_c% and large storage capacity) on such systems are considered. The adaptive clustering neural net (ACNN) and robust Ho-Kashyap (HK-2) associative processor (AP) are the neural networks considered in detail.

关键词： Neurons Analog electronics Neural networks Very large scale integration computer programming Quantization computer vision technology Machine vision Robot vision robots

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AN IMPROVING VISIBILITY METHOD FOR UNDERWATER robots 12

AN IMPROVING VISIBILITY METHOD FOR UNDERWATER ROBOTS

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

作者： LIU, SQ XIA, YX FENGPING, JB WAWG, TL GONG, ZB ACAD SINICA ANHUI INST OPT & FINE MECHHEFEI 230031PEOPLES R CHINA

ISBN: (纸本)0819413208

Fov improving underwater visibility for robots. a method using special intervallic series of light pulses, and two acts of emitting and receiving are performed by two special designed optical shutters and the control signals are synchronized delayed is presented. Calculations show that the received backscattering light can be reduced and so the visible distance increased . This method has several advantages which can make it practical for underwater robots and other actual use. Its feasibility has been demonstrated in the experiments. while only in principle as the limitation of the experimental conditions at present. © 1993 SPIE.

关键词： Underwater visibility

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Autonomous robot vision software design using Matlab toolboxes

Autonomous robot vision software design using Matlab toolbox...

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

作者： Tedder, M Chung, CJ Lawrence Technol Univ Southfield MI 48075 USA

ISBN: (纸本)081945561X

The purpose of this paper is to introduce a cost-effective way to design robot vision and control software using Matlab for an autonomous robot designed to compete in the 2004 intelligent Ground Vehicle Competition (IGVC). The goal of the autonomous challenge event is for the robot to autonomously navigate an outdoor obstacle course bounded by solid and dashed lines on the ground. Visual input data is provided by a DV camcorder at 160 x 120 pixel resolution. The design of this system involved writing an image-processing algorithm using hue, satuaration, and brightness (HSB) color filtering and Matlab image processing functions to extract the centroid, area, and orientation of the connected regions from the scene. These feature vectors are then mapped to linguistic variables that describe the objects in the world environment model. The linguistic variables act as inputs to a fuzzy logic controller designed using the Matlab fuzzy logic toolbox, which provides the knowledge and intelligence component necessary to achieve the desired goal. Java provides the central interface to the robot motion control and image acquisition components. Field test results indicate that the Matlab based solution allows for rapid software design, development and modification of our robot system.

关键词： computer vision algorithms autonomous mobile robots obstacle avoidance fuzzy logic neural networks

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VERTICES AND CORNERS - A MAXIMUM-LIKELIHOOD APPROACH 12

VERTICES AND CORNERS - A MAXIMUM-LIKELIHOOD APPROACH

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

作者： MALIK, R SO, S STEVENS INST TECHNOL DEPT ELECTR ENGN & COMP SCIHOBOKENNJ 07030

ISBN: (纸本)0819413208

Scenes of polyhedral objects may be accurately represented in 2-D using line sketches. An aim of low level image processing is to generate useful binary images from grey scale images. The binary images generated by enhancement/threshold edge detectors are usually unrefined outlines of the underlying 3-D scene. Such images must be further processed to isolate and identify region boundaries; which, in the case of polyhedra, consist of line segments. The intersection or connection points of these line segments are known as vertices or corners. The work reported in this paper employs a decision theoretic approach to detect vertices in grey scale images.

关键词： Image segmentation computer vision technology Machine vision Robot vision robots Image processing Binary data Silicon 3D image enhancement Sensors

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Kinematics analysis on a spherical robot

Kinematics analysis on a spherical robot

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

作者： Xiao, Ai-Ping Sun, Han-Xu Tan, Yue-Sheng Wang, Liang-Qing Hi-Tech Innovation Center Institute of Automation Chinese Academy of Sciences P.O. Box 2728 Beijing 100080 China Automation School Beijing University of Post and Telecommunications Beijing 100876 China Robot Laboratory Beihang University Beijing 10083

Spherical robot, rolling by altering its' barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the ground while it rolling. Particular attention is paid to the research of spherical robot in recent years. This paper presents a new omnidirectional bi-driver spherical robot droved by two motors that directly drive the balancer to rotate about two orthogonal axes. The spherical robot is a nonholonomic system with 3 DOF while it rolls on the ground, so the spherical presented in this paper is a nonholonomic under-actuated system, featuring omnidirectional movement, simple configuration, and so on.

关键词： robots

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MORPHOLOGICAL GRANULOMETRIC SHAPE-RECOGNITION IN NOISE 12

MORPHOLOGICAL GRANULOMETRIC SHAPE-RECOGNITION IN NOISE

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

作者： CHENG, YC DOUGHERTY, ER NO TELECOM NETWORK APPLICAT SYSTROCHESTERNY 14609

ISBN: (纸本)0819413208

Shape classification via linear granulometric moments is examined for patterns suffering varying degrees of edge noise. It is seen that recognition is quite poor even for modest amounts of noise and remains poor even when the patterns are first filtered by a close-open filter. Recognition accuracy is greatly improved, for both unfiltered and filtered images, by employing exterior granulometries. These are constructed by applying the various linear structuring-element sequences to the corresponding linear convex hulls of the noisy patterns. The resulting granulometric distributions are then not corrupted by noise-induced probability mass at the left of the pattern spectrum, thereby greatly diminishing the detrimental effects on the pattern spectrum moments.

关键词： Binary data Image processing computer vision technology Machine vision Robot vision robots Image classification Pattern recognition Image filtering Imaging systems

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Uniqueness of shape recovery based on interreflections

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 148-158页

作者： Yang, Jun Zhang, Dili Ohnishi, Noboru Sugie, Noboru RIKEN Ngoya Jpn

ISBN: (纸本)0819423068;9780819423061

We discuss the uniqueness of 3D shape recovery of a polyhedron from a single shading image, and propose an approach to uniquely determine the concave shape solution by using interreflections as a constraint. We show that if interreflection distribution is not considered, multiple convex shape solutions usually exist for a pyramid with three or more visible facets. However, if interreflection distribution is used as a constraint to limits the shape of polyhedron, polyhedral shape can be uniquely determined. Interreflections, which were considered to be deleterious in conventional approaches, are an important constraint for shape-from-shading.

关键词： computer vision

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SEGMENTING TEXT IMAGES WITH MASSIVELY PARALLEL MACHINES

SEGMENTING TEXT IMAGES WITH MASSIVELY PARALLEL MACHINES

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

作者： WILKINSON, RA National Institute of Standards and Technology (United States)

ISBN: (纸本)0819407445

Image segmentation, the partitioning of an image into meaningful parts, is a major concern of any computer vision system. The meaningful parts of a text image are lines of text, words, and characters. In this paper, the segmentation of pages of text into lines of text and lines of text into characters on a parallel machine are examined. Using a parallel machine for text image segmentation allows the use of techniques that are impractical on a serial machine due to the computation time needed. It is possible to use a parallel machine to segment text images of lines using spatial histograms with an accuracy of 97.9% at a speed of 30 milliseconds or less per character. Statistically adaptive rules based on dynamic adaptive sampling are used for line segmentation and also for improved accuracy of character segmentation. The segmentation of lines from a page can also be accomplished using a set of statistically adaptive rules which allow sloped lines of text to be segmented. The use of these statistical rules on a parallel machine increases processing time by no more than 1 millisecond per character. Using statistical rules in combination with knowledge about the printed style increases the segmentation accuracy to 99.2% correct for machine-printed text and 89.6% for hand-printed text.

关键词： Image segmentation Image processing Binary data Robot vision robots computer vision technology Machine vision Computing systems Image processing algorithms and systems Optical character recognition

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Active vision system for planning and programming of industrial robots in one-of-a-kind manufacturing

Active vision system for planning and programming of industr...

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Conference on intelligent robots and computer vision XIV - algorithms, techniques, Active vision, and Materials Handling

作者： Berger, U Schmidt, A UNIV BREMEN BIBAD-28335 BREMENGERMANY

ISBN: (纸本)0819419524

The aspects of automation technology in industrial one-of-a-kind manufacturing are discussed. An approach to improve the quality and cost relation is developed and an overview of an 3D- vision supported automation system is given. This system is based on an active vision sensor for 3D-geometry feedback. Its measurement principle, the coded light approach, is explained. The experimental environment for the technical validation of the automation approach is demonstrated, where robot based processes (assembly, arc welding and flame cutting) are graphically simulated and off-line programmed. A typical process sequence for automated one- of-a-kind manufacturing is described. The results of this research development are applied to a project on the automated disassembling of car parts for recycling using industrial robots.

关键词： one-of-a-kind manufacturing industrial robot active vision structured light approach 3D-measurement geometry feedback process simulation off-line programming assembly arc welding flame cutting disassembling car recycling

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An embedded vision system for an unmanned four-rotor helicopter

An embedded vision system for an unmanned four-rotor helicop...

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

作者： Lillywhite, Kirt Lee, Dah-Jye Tippetts, Beau Fowers, Spencer Dennis, Aaron Nelson, Brent Archibald, James Brigham Young Univ Dept Elect & Comp Engn Robot Vis Lab Provo UT 84602 USA

ISBN: (纸本)0819464821

In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement, security, military, and civilian applications. The vision system is implemented on a newly designed compact FPGA board (Helios). The Helios board contains a Xilinx Virtex-4 FPGA chip and memory making it capable of implementing real time vision algorithms. A Smooth Automated intelligent Leveling daughter board (SAIL), attached to the Helios board, collects attitude and heading information to be processed in order to control the unmanned helicopter. The SAIL board uses an electrolytic tilt sensor, compass, voltage level converters, and analog to digital converters to perform its operations. While level flight can be maintained, problems stemming from the characteristics of the tilt sensor limits maneuverability of the helicopter. The embedded vision system has proven to give very good results in its performance of a number of realtime robotic vision algorithms.

关键词： field programmable gate arrays (FPGA) robot vision unmanned helicopter attitude control

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