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

作者： EGGLESTON, P Amerinex Artificial Intelligence Inc. (United States)

ISBN: (纸本)0819407445

Constraints are mathematical mapping functions which transform from an attribute or feature space onto a score or measure of plausibility. The term plausible is used because this paper assumes one is looking to support a hypothesis rather than refute it. In this paper, a system is described which allows the algorithm developer to easily incorporate domain knowledge into an interpretation process through the graphical creation and editing of constraints. These constraints can be applied to multiple sets of data through the use of application programs. Groupings or spatial relationships such as collinearity or nearness are also attributes which may be constrained in an attempt to interpret image data. Model matches may likewise be written as constraint mappings. Primitive constraints may be combined to form compound constraints, and differing compounding weights may be assigned to primitive constraints. If these weights are written as functions dependent upon other information, the a system developed with this process can be made adaptive.

关键词： Image processing Image segmentation Machine vision Databases Fuzzy logic Algorithm development computer vision technology Robot vision robots Intelligence systems

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Optimum illumination for machine vision using optical scatter data

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 159-166页

作者： Volcy, Jerry Dickerson, Stephen L. Georgia Inst. of Technology Atlanta GA USA

ISBN: (纸本)0819423068;9780819423061

Knowledge of the bidirectional optical scatter function of surfaces comprising a 2D scene is used to predict and optimize characteristics of a digitally captured image of the scene. Mathematical expressions that describe certain image properties including contrast, brightness, glare, etc., are developed from the scatter functions. It is these mathematical expressions that are maximized or minimized with respect to a set of coordinates used to describe the orientation of a collimated light source and imaging system relative to the scene. In this way, it is shown how illumination can be analytically prescribed to attenuated or accentuated certain properties of digital images without the trial-and-error procedure currently in practice.

关键词： computer vision

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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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intelligent robots that adapt, learn, and predict

Intelligent robots that adapt, learn, and predict

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

作者： Hall, E.L. Liao, X. Ghaffari, M. Alhaj Ali, S.M. Center for Robotics Research University of Cincinnati Cincinnati OH 45221-0072 United States Hashemite Univ. Jordan

The purpose of this paper is to describe the concept and architecture for an intelligent robot system that can adapt, learn and predict the future. This evolutionary approach to the design of intelligent robots is the result of several years of study on the design of intelligent machines that could adapt using computer vision or other sensory inputs, learn using artificial neural networks or genetic algorithms, exhibit semiotic closure with a creative controller and perceive present situations by interpretation of visual and voice commands. This information processing would then permit the robot to predict the future and plan its actions accordingly. In this paper we show that the capability to adapt, and learn naturally leads to the ability to predict the future state of the environment which is just another form of semiotic closure. That is, predicting a future state without knowledge of the future is similar to making a present action without knowledge of the present state. The theory will be illustrated by considering the situation of guiding a mobile robot through an unstructured environment for a rescue operation. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots.

关键词： intelligent robots

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BEYOND PURE STATIC SHAPE IN FUNCTION-BASED OBJECT RECOGNITION 12

BEYOND PURE STATIC SHAPE IN FUNCTION-BASED OBJECT RECOGNITIO...

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

作者： BOWYER, KW STARK, L UNIV S FLORIDA TAMPAFL 33620

ISBN: (纸本)0819413208

There has recently been growing interest in exploiting the concept of reasoning about function for object recognition. In a function-based approach to object recognition, recognition of an object means labeling it as belonging to some category of objects according to the function that it could serve. The few function-based recognition systems which have so far been described in the literature have all assumed that the input to the problem is a pure static shape description. By `pure' shape we mean that the only object property that the systems have reasoned about is their abstract shape. By `static' shape we mean that the systems have reasoned about an object from only a single (assumed rigid) abstract shape instance. This paper discusses some of the issues which must be addressed in extending the function-based approach to handle non-shape properties (such as material properties) and dynamic shape descriptions.

关键词： computer vision technology Machine vision Object recognition 3D modeling Visual process modeling Robot vision robots Aluminum Computing systems Shape analysis

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Biomimetic sensory abstraction using hierarchical quilted self-organizing maps

Biomimetic sensory abstraction using hierarchical quilted se...

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

作者： Miller, Jeffrey W. Lommel, Peter H. Draper Lab 555 Technol Sq Cambridge MA 02139 USA

ISBN: (纸本)0819464821

We present an approach for abstracting invariant classifications of spatiotemporal patterns presented in a high-dimensionality input stream, and apply an early proof-of-concept to shift and scale invariant shape recognition. A model called Hierarchical Quilted Self-Organizing Map (HQSOM) is developed, using recurrent self-organizing maps (RSOM) arranged in a pyramidal hierarchy, attempting to mimic the parallel/hierarchical pattern of isocortical processing in the brain. The results of experiments are presented in which the algorithm learns to classify multiple shapes, invariant to shift and scale transformations, in a very small (7 x 7 pixel) field of view.

关键词： Self-Organizing Maps (SOM) unsupervised learning pattern recognition cognitive learning image interpretation robot vision computational neuroscience biomimetic

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Bayesian stereo: 3D vision designed for sensor fusion

Bayesian stereo: 3D vision designed for sensor fusion

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

作者： Larson, J Pless, R Washington Univ St Louis MO 63130 USA

ISBN: (纸本)081945561X

Classical stereo algorithms attempt to reconstruct 3D models of a scene by matching points between two images. Finding points that match is an important part of this process, and point matches are most commonly chosen as the minimum of an error function based on color or local texture. Here we motivate a probabilistic approach to this point matching problem, and provide an experimental design for the empirical measurement of the color matching error for corresponding points. We use this prior in a Bayesian scene reconstruction example, and show that we get better 3D reconstruction by not committing to a specific pixel match early in the visual processing. This allows a calibrated stereo camera to be considered as a probabilistic volume sensor --- which allows it to be more easily integrated with scene structure measurements from other kinds of sensors.

关键词： stereo Bayesian probabilistic sensor fusion

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DESIGN AND IMPLEMENTATION OF A FUZZY-LOGIC YAW CONTROLLER 12

DESIGN AND IMPLEMENTATION OF A FUZZY-LOGIC YAW CONTROLLER

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

作者： WU, KC SWIFT, AHP CRAVER, WL CHANG, YC UNIV TEXAS DEPT MECH & IND ENGNEL PASOTX 79968

ISBN: (纸本)0819413208

This paper describes a fuzzy logic controller (FLC) designed and implemented to control the yaw angle of a 10 kW fixed speed teetered-rotor wind turbine presently being commissioned at the University of Texas at El Paso. The technical challenge of this project is that the wind turbine represents a highly stochastic nonlinear system. The problems associated with the wind turbine yaw control are of a similar nature as those experienced with position control of high inertia equipment like tracking antenna, gun turrets, and overhead cranes. Furthermore, the wind turbine yaw controller must be extremely cost-effective and highly reliable in order to be economically viable compared to the fossil fueled power generators.

关键词： Fuzzy logic Wind turbine technology Control systems Fuzzy systems robots computer vision technology Electroluminescence Machine vision Robot vision Complex systems

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A REAL-TIME vision SYSTEM FOR A MOBILE ROBOT USING CHEAP HARDWARE 12

A REAL-TIME VISION SYSTEM FOR A MOBILE ROBOT USING CHEAP HAR...

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

作者： HORSWILL, I MIT AI LABCAMBRIDGEMA 02139

ISBN: (纸本)0819413208

In this paper I will describe work in progress on a low cost vision-based robot designed to give primitive tours. The system is very simple, robust and efficient, and runs on a hardware platform which could be duplicated for less than $10K. Much of the system's efficiency is due to its implicit knowledge about the structure and appearance of its environment. This knowledge is not represented explicitly but rather is encoded in the structure of the system. I will give an overview of the system, discuss the properties of its environment, and show how they can be used to simplify the design of the system. © 1993 SPIE.

关键词： Robot vision

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IMAGE-ANALYSIS USING ATTRIBUTED FUZZY TOURNAMENT MATCHING ALGORITHM

IMAGE-ANALYSIS USING ATTRIBUTED FUZZY TOURNAMENT MATCHING AL...

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

作者： SHAOUT, A Univ. of Michigan (United States)

ISBN: (纸本)0819404489

Attributed Fuzzy Tournaments (AFT''s) are a special type of attributed fuzzy graphs which are useful to represent uncertainties inherent to many realworld problems. A new algorithm that finds the best fuzzy matching configuration between components of two Attributed Fuzzy Transitive Tournaments (AFTT''s) is proposed. The best fuzzy matching between two AFTT''s is the matching configuration between components of both AFTT''s such that the overall distance measure between two AFTT''s possesses the minimum value. Useful applications of the proposed algorithm can be found in scene matching where the nodes of an AFT represent the objects in the scene and the arcs represent the relationships among the objects. Uncertainties of the image are represented via fuzzy membership values associated with the nodes and arcs. An examples showing the usefulness of the algorithm in pattern matching is shown through image analysis. I.

关键词： Distance measurement Fuzzy logic computer vision technology Image analysis Machine vision Robot vision robots Matrices Systems modeling Visual process modeling

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