Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first na...
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ISBN:
(纸本)9780819499424
Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.
In this research, a new algorithm for fruit shape classification was proposed. The level set representations according to signed distance transforms were used, which are a simple, robust, rich and efficient way to rep...
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ISBN:
(纸本)0819464821
In this research, a new algorithm for fruit shape classification was proposed. The level set representations according to signed distance transforms were used, which are a simple, robust, rich and efficient way to represent shapes. Based on these representations, the rigid transform was adopted to align shapes within the same class, and the simplest possible criterion, the sum of square differences was considered. After align procedure, the average shape representations can easily be derived and shape classification was performed by the nearest neighbor method. Promising results were obtained on experiments showing the efficiency and accurate of our algorithm.
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision...
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ISBN:
(纸本)9780819479327
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision is inherently noisy and non linear. This paper describes the X-H Map algorithm and details a method of improving the accuracy with the Unscented Kalman Filter (UKF). The significance of this work is that it details a method of stereo vision object detection and concludes that the UKF is a relevant method of filtering that improves the robustness of obstacle detection given noisy inputs. This method of integrating the UKF for use in stereo vision is suitable for any standard stereo vision algorithm that is based on pixel matching (stereo correspondence) from disparity maps.
A new method along with shape descriptor using support vector machine for classify fruit shape is developed, the image is first subjected to a normalization process using its regular moments to obtain scale and transl...
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ISBN:
(纸本)9780819469243
A new method along with shape descriptor using support vector machine for classify fruit shape is developed, the image is first subjected to a normalization process using its regular moments to obtain scale and translation invariance, the rotation invariant Zernike features are then extracted from the scale and translation normalized images and the numbers of features are decided by primary component analysis (PCA), at last. these features are input to support vector machine (SVM) classifier and are compared to different classifiers. This method using support vector machine as classifier performs better than traditional approaches that is verified by some experiments.
In a program for reading printed music, a variety of low level feature detectors were used to extract sufficient information to reconstruct the score. All feature detectors were unreliable to some extent, and were bia...
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ISBN:
(纸本)0819410268
In a program for reading printed music, a variety of low level feature detectors were used to extract sufficient information to reconstruct the score. All feature detectors were unreliable to some extent, and were biased towards yielding false positives rather than missing features. In order to reconstruct the score, conflicting information from the feature detectors needed to be recognized and eliminated. All objects as well as their geometric and semantic relations were represented in an object oriented framework. Ambiguity (implemented as a generic predicate) was defined -- and explicitly represented -- in terms of these relationships. Examples of ambiguous relationships include: An accidental and a note head having an on-top-of geometric relationship, or the total duration of notes in a measure not being equal to the notated time signature. A method inspired by Waltz filtering was used to produce a consistent, unambiguous interpretation. Waltz filtering is a symbolic constraint propagation technique which has been applied to line drawings. During interpretation attention was focused on objects which had ambiguous relations. Ambiguity was iteratively reduced or removed by using a variety of methods employing information gathered from local unambiguous relations.
Augmented reality is a term used to describe systems in which computer-generated information is superimposed on top of the real world; for example, through the use of a see-through head-mounted display. A human user o...
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ISBN:
(纸本)0819423068;9780819423061
Augmented reality is a term used to describe systems in which computer-generated information is superimposed on top of the real world; for example, through the use of a see-through head-mounted display. A human user of such a system could still see and interact with the real world, but have valuable additional information, such as descriptions of important features or instructions for performing physical tasks, superimposed on the world. For example, the computer could identify and overlay them with graphic outlines, labels, and schematics. The graphics are registered to the real-world objects and appear to be 'painted' onto those objects. Augmented reality systems can be used to make productivity aids for tasks such as inspection, manufacturing, and navigation. One of the most critical requirements for augmented reality is to recognize and locate real-world objects with respect to the person's head. Accurate registration is necessary in order to overlay graphics accurately on top of the real-world objects. At the Colorado School of Mines, we have developed a prototype augmented reality system that uses head-mounted cameras and computervisiontechniques to accurately register the head to the scene. The current system locates and tracks a set of pre-placed passive fiducial targets placed on the real-world objects. The system computes the pose of the objects and displays graphics overlays using a see-through head-mounted display. This paper describes the architecture of the system and outlines the computervisiontechniques used.
A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism,...
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A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.
This paper presents a control mechanism for video transmission that relies on transmitting non-uniform resolution images depending on the delay of the communication channel. These images are built in an active way to ...
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ISBN:
(纸本)0819438626
This paper presents a control mechanism for video transmission that relies on transmitting non-uniform resolution images depending on the delay of the communication channel. These images are built in an active way to keep the areas of interest of the image at the highest resolution available. In order to shift the area of high resolution over the image and to achieve a data structure easy to process by using conventional algorithms, a shifted fovea multiresolution geometry of adaptive size is used. Besides, if delays are nevertheless too high, the different areas of resolution of the image can be transmitted at different rates. A functional system has been developed for corridor surveillance with static cameras. Tests with real video images have proven that the method allows an almost constant rate of images per second as long as the channel is not collapsed.
intelligent tactical behaviors of robots and UGVs cannot be achieved without a perception system that is similar to human vision. The traditional linear bottom-up "segmentation-grouping-learning-recognition"...
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intelligent tactical behaviors of robots and UGVs cannot be achieved without a perception system that is similar to human vision. The traditional linear bottom-up "segmentation-grouping-learning-recognition" approach to image processing and analysis cannot provide a reliable separation of an object from its background or clutter, while human vision unambiguously solves this problem. The nature of informational processes in the visual system does not allow separating from the informational processes in the top-level knowledge system. An Image/Video Analysis that is based on Network-Symbolic approach is a combination of recursive hierarchical bottom-up and top-down processes. Instead of precise computations of 3-dimensional models a Network-Symbolic system converts image information into an "understandable" Network-Symbolic format that is similar to the relational knowledge models. The logic of visual scenes can be captured in the Network-Symbolic models and used for the reliable disambiguation of visual information, including object detection and identification. View-based object recognition is a hard problem for traditional algorithms that directly match a primary view of an object to a model. In Network-Symbolic Models, the derived structure and not the primary view is a subject for recognition. Such recognition is not affected by local changes and appearances of the object from a set of similar views, and a robot can better interpret images and video for intelligent tactical behavior.
This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar se...
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ISBN:
(纸本)081942983X
This paper describes the use of fuzzy logic control for the high level control systems of a mobile robot. The advantages of the fuzzy logic system are that multiple types of input such as that from vision and sonar sensors as well as stored map information can be cased to guide the robot. Sensor fusion can be accomplished between real time sensed information and stored information in a manner similar to a human decision maker. vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating to the computer the X,Y coordinates of a lane marker. Testing of these systems yielded positive results by showing that at five miles per hour, the vehicle can follow a line and avoid obstacles. The obstacle detection uses information from Polaroid sonar detection system. The motor control system uses a programmable Galil motion control system. This design, in its modularity, creates a portable autonomous controller that could be used for any mobile vehicle with only minor adaptations.
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