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 (goo...
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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.
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 ...
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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 (I...
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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.
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 en...
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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.
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 groun...
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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.
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 ...
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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.
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 t...
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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.
Image segmentation, the partitioning of an image into meaningful parts, is a major concern of any computervision system. The meaningful parts of a text image are lines of text, words, and characters. In this paper, t...
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ISBN:
(纸本)0819407445
Image segmentation, the partitioning of an image into meaningful parts, is a major concern of any computervision 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.
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 sys...
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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.
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 ...
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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 visionalgorithms. 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 visionalgorithms.
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