A telerobotic system for power-line maintenance is equipped with a laser range-finder allowing it to perform an estimation of its workspace occupancy. This paper describes the model used for describing space occupancy...
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ISBN:
(纸本)0819407445
A telerobotic system for power-line maintenance is equipped with a laser range-finder allowing it to perform an estimation of its workspace occupancy. This paper describes the model used for describing space occupancy and the 3-D computervision method developed for extracting this information. It consists in building an octree of the scene from several range images taken from various points of view. A calibration is performed using the first image in order to find the initial position of the camera relative to the scene. Successive 3-D images are used to complete the model information until a satisfying knowledge of the space occupancy is reached.
Robust range estimation is one of the most important tasks in mobile robotics. This paper presents a new optical arrangement for utilizing the previously known 'depth from defocus' principle. The arrangement m...
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ISBN:
(纸本)0819423068;9780819423061
Robust range estimation is one of the most important tasks in mobile robotics. This paper presents a new optical arrangement for utilizing the previously known 'depth from defocus' principle. The arrangement makes it possible to apply standard video lenses and camera modules for making a compact range camera system. Real-time processing is made possible with a single-board DSP card.
An intelligent robot with a camera and a partial model of its environment should be able to determine where it is from what it sees. This goal, landmark based navigation, can be realized using geometric object recogni...
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ISBN:
(纸本)0819410268
An intelligent robot with a camera and a partial model of its environment should be able to determine where it is from what it sees. This goal, landmark based navigation, can be realized using geometric object recognition algorithms. An important problem that arises in the development of such algorithms concerns the role of full 3-D perspective projection. Much of the work on object recognition has focused upon simplified problems which are essentially 2- D. One such simplification uses weak-perspective: to test the alignment of matched features object models are rotated, translated, and scaled in the image plane. At increased computational cost, full-perspective can be incorporated into recognition using a family of probabilistic optimization procedures based upon local search. This paper considers two specific algorithms from this family: subset-convergent and variable-depth local search. Both approaches reliably recognize landmarks even when landmark appearance is sensitive to perspective. Results presented here suggest the relatively simpler variable-depth algorithm is preferable when errors in the robot pose estimate are smaller, but that at some point as uncertainty in the initial pose estimate increases the more sophisticated subset-convergent algorithm becomes preferable.
The proceedings contains 33 papers from the conference on SPIE - intelligentrobots and computervision XXI: algorithms, techniques, and Active vision. The topics discussed include: learning for intelligent mobile rob...
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The proceedings contains 33 papers from the conference on SPIE - intelligentrobots and computervision XXI: algorithms, techniques, and Active vision. The topics discussed include: learning for intelligent mobile robots;remote operation of robotics systems using WLAN- and CORBA-based architecture;autonomous cross-country driving using active vision;Web-based telerobotics system in a virtual reality environment;automatic calibration and neural networks for robot guidance;recursive least squares approach to calculate motion parameters for a moving camera;and effective color representation for image segmentation under nonwhite illumination.
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. This paper describes work to modify the genetic spline algorithm to use a version of the...
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ISBN:
(纸本)9780819479327
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. This paper describes work to modify the genetic spline algorithm to use a version of the genetic algorithm with small populations and few generations, previously referred to as "Tiny GAs", to allow algorithm implementations to achieve real-time performance. The algorithm was also targeted at unrectified stereo image pairs to reduce preprocessing making it more suitable for real-time performance. To ensure disparity map quality is preserved, the two dimensional nature of images is maintained to leverage persistent information instead of representing the images as 1-D signals as suggested in the orignal genetic spline algorithm. Experimental results are given of this modified algorithm using unrectified images.
Autonomous systems that navigate through unknown and unstructured environments must solve the egomotion estimation problem. Fusing the information from many different sensors makes this motion estimation more stable, ...
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ISBN:
(纸本)081945561X
Autonomous systems that navigate through unknown and unstructured environments must solve the egomotion estimation problem. Fusing the information from many different sensors makes this motion estimation more stable, but requires that the relative position and orientation of these sensors be known. Self-calibration algorithms are the most useful for this calibration problem because the do not require any known feature in the environment and can be used during system operation. Here we give geometric constraints, the coherent motion constraints, that allow a framework for the development of self-calibration algorithms for a heterogeneous sensor system (such as cameras, laser range finders, and odometry). If, for all sensors, a conditional probability density function can be defined to relate sensor measurements to the sensor motion, then the coherent motion constraints allows a maximum likelihood formulation of the sensor calibration problem. We present complete algorithms here for the case of a camera and laser range finder, in the case of both discrete and differential motions.
Developing software to control a sophisticated lane-following, obstacle-avoiding, autonomous robot can be demanding and beyond the capabilities of novice programmers - but it doesn't have to be. A creative softwar...
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ISBN:
(纸本)081945561X
Developing software to control a sophisticated lane-following, obstacle-avoiding, autonomous robot can be demanding and beyond the capabilities of novice programmers - but it doesn't have to be. A creative software design utilizing only basic image processing and a little algebra, has been employed to control the LTU-AISSIG autonomous robot - a contestant in the 2004 intelligent Ground Vehicle Competition (IGVC). This paper presents a software design equivalent to that used during the IGVC, but with much of the complexity removed. The result is an autonomous robot software design, that is robust, reliable, and can be implemented by programmers with a limited understanding of image processing. This design provides a solid basis for further work in autonomous robot software, as well as an interesting and achievable robotics project for students.
A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle (AGV) robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an...
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ISBN:
(纸本)0819434302
A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle (AGV) robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its I;igh robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification which are based on the analysis of the classifying neural network and the Neuro-fuzzy algorithm is presented. The significance of this work lies in the development of a new method for mobile robot navigation.
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.
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.
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