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Conference on intelligent robots and computer vision XXXI - algorithms and techniques

作者： Akhloufi, M. A. Ctr Robot & Vis Ind Levis PQ G6V 6Z9 Canada

ISBN: (纸本)9780819499424

In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real- time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

关键词： 3D vision multimodal fusion intelligent systems RGBD TOF real-time robotics milking robot.

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The 19TH Annual intelligent Ground Vehicle Competition: Student Built Autonomous Ground Vehicles

The 19TH Annual Intelligent Ground Vehicle Competition: Stud...

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Conference on intelligent robots and computer vision XXIX - algorithms and techniques

作者： Theisen, Bernard L. USA TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819489487

The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 19 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from almost 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles vehicle control engineering education IGVC

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Engineering Robust intelligent robots

Engineering Robust Intelligent Robots

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27th Conference on intelligent robots and computer vision: algorithms and techniques

作者： Hall, E. L. Ali, S. M. Alhaj Ghaffari, M. Liao, X. Cao, M. Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA Hashemite Univ Jordanstown North Ireland

ISBN: (纸本)9780819479327

The purpose of this paper is to discuss the challenge of engineering robust intelligent robots. Robust intelligent robots may be considered as ones that not only work in one environment but rather in all types of situations and conditions. Our past work has described sensors for intelligent robots that permit adaptation to changes in the environment. We have also described the combination of these sensors with a "creative controller" that permits adaptive critic, neural network learning, and a dynamic database that permits task selection and criteria adjustment. However, the emphasis of this paper is on engineering solutions which are designed for robust operations and worst case situations such as day night cameras or rain and snow solutions. This ideal model may be compared to various approaches that have been implemented on "production vehicles and equipment" using Ethernet, CAN Bus and JAUS architectures and to modern, embedded, mobile computing architectures. Many prototype intelligent robots have been developed and demonstrated in terms of scientific feasibility but few have reached the stage of a robust engineering solution. Continual innovation and improvement are still required. The significance of this comparison is that it provides some insights that may be useful in designing future robots for various manufacturing, medical, and defense applications where robust and reliable performance is essential.

关键词： intelligent robots robust engineering eclecticism creative control reinforcement learning adaptive critic

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GROUNDING LANGUAGE IN PERCEPTION 12

GROUNDING LANGUAGE IN PERCEPTION

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

作者： SISKIND, JM UNIV PENN INST RES COGNIT SCIPHILADELPHIAPA 19104

ISBN: (纸本)0819413208

We describe an implemented computer program that recognizes the occurrence of simple spatial motion events in simulated video input. The program receives an animated line-drawing as input and produces as output a semantic representation of the events occurring in that movie. We suggest that the notions of support, contact, and attachment are crucial to specifying many simple spatial motion event types and present a logical notation for describing classes of events that incorporates such notions as primitives. We then suggest that the truth values of such primitives can be recovered from perceptual input by a process of counterfactual simulation, predicting the effect of hypothetical changes to the world on the immediate future. Finally, we suggest that such counterfactual simulation is performed using knowledge of naive physical constraints such as substantiality, continuity, gravity, and ground plane. We describe the algorithms that incorporate these ideas in the program and illustrate the operation of the program on sample input.

关键词： Image segmentation computer simulations computer vision technology Machine vision Robot vision robots Logic Kinematics Numerical integration Software

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The 20TH Annual intelligent Ground Vehicle Competition: Building a Generation of Robotists

The 20TH Annual Intelligent Ground Vehicle Competition: Buil...

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Conference on intelligent robots and computer vision XXX - algorithms and techniques

作者： Theisen, Bernard L. Kosinski, Andrew US Army TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819494351

The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 20 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles vehicle control engineering education IGVC

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The 21TH Annual intelligent Ground Vehicle Competition: Robotists for the Future

The 21TH Annual Intelligent Ground Vehicle Competition: Robo...

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Conference on intelligent robots and computer vision XXXI - algorithms and techniques

作者： Theisen, Bernard L. US Army TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819499424

The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 21 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles vehicle control engineering education IGVC.

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Optimizing a Mobile Robot Control System using GPU Acceleration

Optimizing a Mobile Robot Control System using GPU Accelerat...

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Conference on intelligent robots and computer vision XXIX - algorithms and techniques

作者： Tuck, Nat McGuinness, Michael Martin, Fred Univ Massachusetts Lowell Lowell MA 01854 USA

ISBN: (纸本)9780819489487

This paper describes our attempt to optimize a robot control program for the intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

关键词： robotics stereo vision GPU acceleration

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Manipulator control by calibration-free stereo vision

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 218-226页

作者： Vollmann, Karl Nguyen, Minh C. Federal Armed Forces Univ. Munich Neubiberg Ger

ISBN: (纸本)0819423068;9780819423061

Based on the concept of object- and behavior-oriented stereo vision, a method is introduced which enables a robot manipulator to handle two distinct types of objects. It uses an uncalibrated stereo vision system and allows a direct transition from image coordinates to motion control commands of a robot. An object can be placed anywhere in the robot's 3D work space which is in the field of view of both cameras. The objects to be manipulated can either be of flat cylindrical or elongate shape. Results gained from real-world experiments are discussed.

关键词： Binocular vision

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A modular real-time vision module for humanoid robots

A modular real-time vision module for humanoid robots

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Conference on intelligent robots and computer vision XXIX - algorithms and techniques

作者： Trifan, Alina Neves, Antonio J. R. Lau, Nuno Cunha, Bernardo Univ Aveiro IEETA DETI P-3810193 Aveiro Portugal

ISBN: (纸本)9780819489487

Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

关键词： Robotics robotic soccer computer vision object recognition humanoid robots color classification

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IMAGE-CODING AND IMAGE ACTIVITY MEASUREMENT 12

IMAGE-CODING AND IMAGE ACTIVITY MEASUREMENT

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

作者： KEISSARIAN, F IBRAHIM, MK DAEMI, MF UNIV NOTTINGHAM DEPT COMP SCIRECOGNIT ENGN GRPNOTTINGHAM NG7 2RDENGLAND

ISBN: (纸本)0819413208

In this paper, a novel image analysis technique is proposed, which may be performed prior to coding in order to decide what is the most significant information to encode. In the proposed system, the image to be coded is first partitioned into a large number of sub-blocks of N*N pixels. The blocks can then be stored into two major classes according to the level of the visual activity present. The classification is based on analyzing the local histogram within each sub-block. In this paper, we initially analyze the image blocks to separate uniform blocks from those that can be classified as non-uniform blocks. Adjacent uniform blocks with the same statistics are merged to form large blocks. These blocks can then be coded by their mean values. It is also shown that the non-uniform blocks may also be classified into three categories with different levels of activity.

关键词： Image compression Image quality Image analysis computer vision technology Machine vision Robot vision robots Image processing Statistical analysis Image transmission

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