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检索条件"任意字段=Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques"

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computer vision inspection of rice seeds quality with discriminant analysis

Computer vision inspection of rice seeds quality with discri...

引用

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

作者： Cheng, F Ying, YB Zhejiang Univ Coll Biosyst Engn & Food Sci Hangzhou 310029 Peoples R China

ISBN: (纸本)081945561X

This study was undertaken to develop computer vision-based rice seeds inspection technology for quality control. Color image classification using a discriminant analysis algorithm identifying germinated rice seed was successfully implemented. The hybrid rice seed cultivars involved were Jinyou402, Shanyou10, Zhongyou207 and Jiayou99. Sixteen morphological features and six color features were extracted from sample images belong to training sets. The color feature of 'Huebmean' shows the strongest classification ability among all the features. Computed as the area of seed region divided by area of the smallest convex polygon that can contain the seed region, the feature of 'Solidity' is prior to the other morphological features in germinated seeds recognition. Combined with the two features of 'Huebmean' and 'Solidity', discriminant analysis was used to classify normal rice seeds and seeds germinated on panicle. Results show that the algorithm achieved an overall average accuracy of 98.4% for both of normal seeds and germinated seeds in all cultivars. The combination of 'Huebmean' and 'Solidity' was proved to be a good indicator for germinated seeds. The simple discriminant algorithm using just two features shows high accuracy and good adaptability.

关键词： computer vision rice seeds germinated discriminant analysis

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Camera localization methods for intelligent room systems using RF techniques

Camera localization methods for intelligent room systems usi...

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Intellignt robots and computer vision XXII: algorithms, techniques, and Active vision

作者： Natarajan, Pradeep Mundhenk, T. Nathan Bellman, K. Itti, L. Arbib, M. Computer Science Department Henri Salvatori Comp. Science Center University of Southern California Los Angeles CA 90089-0781 Neuroscience Program Hedco Neuroscience Building University of Southern California Los Angeles CA 90089-2520 Aerospace Integration Science Center Aerospace Corporation 2350 E. El Segundo Blvd. El Segundo CA 90245-4691

One of the important components of a multi sensor "intelligent" room, which can observe, track and react to its occupants, is a multi camera system. This system involves the development of algorithms that enable a set of cameras to communicate and cooperate with each other effectively so that they can monitor the events happening in the room. To achieve this, the cameras typically must first build a map of their relative locations. In this paper, we discuss a novel RF based technique for estimating distances between cameras. The algorithm proposed for RF can estimate distances with relatively good accuracy even in the presence of random noise.

关键词： Artificial intelligence

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vision system and three dimensional modeling techniques for quantification of the morphology of irregular particles

Vision system and three dimensional modeling techniques for ...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Smith, LN Smith, ML Univ W England Fac Engn Bristol BS16 1QY Avon England

ISBN: (纸本)0819438626

Particulate materials undergo processing in many industries, and therefore there are significant commercial motivators for attaining improvements in the flow and packing behavior of powders. This can be achieved by modeling the effects of particle size, friction, and most importantly, particle shape or morphology. The method presented here for simulating powders employs a random number generator to construct a model of a random particle by combining a sphere with a number of smaller spheres. The resulting 3D model particle has a 'nodular' type of morphology, which is similar to that exhibited by the atomized powders that are used in the bulk of powder metallurgy (PM) manufacture. The irregularity of the model particles is dependent upon vision system data gathered from microscopic analysis of real powder particles. A methodology is proposed whereby randomly generated model particles of various sizes and irregularities can be combined in a random packing simulation. The proposed Monte Carlo technique would allow incorporation of the effects of gravity, wall friction, and inter-particle friction. The improvements in simulation realism that this method is expected to provide would prove useful for controlling powder production, and for predicting die fill behavior during the production of PM parts.

关键词： particle morphology powder simulation vision analysis

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A fault diagnostic system for a mobile robot

A fault diagnostic system for a mobile robot

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Nikam, U Hall, E Department of Mechanical Industrial and Nuclear Engineering University of Cincinnati Cincinnati OH 45221 United States

ISBN: (纸本)0819426407

This paper describes the development of a Robot Fault Diagnosis System (RFDS). Though designed ostensibly for the University of Cincinnati's autonomous, unmanned, mobile robot for a national competition, it has the flexibility to be adapted for industrial applications as well. Using a top-down approach the robot is sub-divided into different functional units, such as the vision guidance system, the ultrasonic obstacle avoidance system, the steering mechanism, the speed control system, the braking system and the power unit. The techniques of Potential Failure Mode and Effects Analysis (PFMEA) are used to analyze faults, their visible symptoms, and probable causes and remedies. The relationships obtained therefrom are mapped in a database framework. This is then coded in a user-friendly interactive Visual Basic((TM)) program that guides the user to the likely cause(s) of failure through a question-answer format. A provision is made to ensure better accuracy of the system by incorporating historical data on failures as it becomes available. The RFDS thus provides a handy trouble-shooting tool that cuts down the time involved in diagnosing failures in the complex robot consisting of mechanical, electric, electronic and optical systems. This has been of great help in diagnosing failures and ensuring maximum performance from the robot during the contest in the face of pressure of the competition and the outdoor conditions.

关键词： intelligent robot fault diagnosis potential failure modes and effects

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MARR: Active vision model

MARR: Active vision model

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Podladchikova, LN Gusakova, VI Shaposhnikov, DG Faure, A Golovan, AV Shevtsova, NA Rostov State Univ. (Russia) Univ. le Havre (France) George Mason Univ. (United States) Univ. of Maryland/College Park (United States)

ISBN: (纸本)0819426407

Earlier(13,18,19), the biologically plausible active vision,model for Multiresolutional Attentional Representation and Recognition (MARR) has been developed. The model is based on the scanpath theory of Noton and Stark(17) and provides invariant recognition of gray-level images. In the present paper, the algorithm of automatic image viewing trajectory formation in the MARR model, the results of psychophysical experiments, and possible applications of the model are considered, Algorithm of automatic Image viewing trajectory formation is based on imitation of the scanpath formed by operator Several propositions about possible mechanisms for a consecutive selection of fixation points in human visual perception inspired by computer simulation results and known psyhophysical data have been tested and confirmed in our psychophysical experiments, in particular, we have found that gaze switch may be directed (i) to a peripheral part of the vision field which contains an edge oriented orthogonally to the edge in the point of fixation, and (ii) to a peripheral part of the vision field containing crossing edges, Our experimental results have been used to optimize automatic algorithm of image viewing in the MARR model, The modified model demonstrates an ability to recognize complex real world images invariantly with respect to scale, shift, rotation, illumination conditions, and, in part, to point of view and can be used to solve some robot vision tasks.

关键词： active vision invariant recognition scanpath

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EXTRACTION OF EDGE-BASED AND REGION-BASED FEATURES FOR OBJECT RECOGNITION 12

EXTRACTION OF EDGE-BASED AND REGION-BASED FEATURES FOR OBJEC...

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

作者： COUTTS, B RAVI, S HU, GZ SHRIKHANDE, N CENT MICHIGAN UNIV DEPT COMP SCIMT PLEASANTMI 48858

ISBN: (纸本)0819413208

One of the central problems of computer vision is object recognition. A catalogue of model objects is described as a set of features such as edges and surfaces. The same features are extracted from the scene and matched against the models for object recognition. Edges and surfaces extracted from the scenes are often noisy and imperfect. In this paper algorithms are described for improving low level edge and surface features. Existing edge extraction algorithms are applied to the intensity image to obtain edge features. Initial edges are traced by following directions of the current contour. These are improved by using corresponding depth and intensity information for decision making at branch points. Surface fitting routines are applied to the range image to obtain planar surface patches. An algorithm of region growing is developed that starts with a coarse segmentation and uses quadric surface fitting to iteratively merge adjacent regions into quadric surfaces based on approximate orthogonal distance regression. Surface information obtained is returned to the edge extraction routine to detect and remove fake edges. This process repeats until no more merging or edge improvement can take place. Both synthetic (with Gaussian noise) and real images containing multiple object scenes have been tested using the merging criteria. Results appeared quite encouraging.

关键词： Edge detection Object recognition Image segmentation Algorithm development Feature extraction Detection and tracking algorithms Image processing algorithms and systems computer vision technology Machine vision Visual process modeling

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The Magic Glove: A Gesture-Based Remote Controller for intelligent Mobile robots

The Magic Glove: A Gesture-Based Remote Controller for Intel...

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

作者： Luo, Chaomin Chen, Yue Krishnan, Mohan Paulik, Mark Univ Detroit Mercy Dept Elect & Comp Engn Detroit MI 48221 USA

ISBN: (纸本)9780819489487

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

关键词： Magic Glove gesture-based remote controller Player/Stage accelerometer microcontroller Bluetooth device intelligent mobile robots

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Positioning approach of a spherical rolling robot

Positioning approach of a spherical rolling robot

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

作者： Wang, Liangqing Sun, Hanxu Jia, Qingxuan Xiao, Aiping Yu, Zhonghua Cao, Xiaowei Beijing University of Aeronautics and Astronautics Beijing 100083 China Beijing University of Posts and Telecommunications Beijing 100876 China

In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not only mechanical but also control literature recently, due to both their relevance to practical applications, and to the difficulties in the analysis and control of these robots. The positioning of a spherical rolling robot at an arbitrary pose and at any time is one of the fundamental and difficult problems in the research of spherical rolling robots. Because spherical rolling robot touches the floor at a point, the positioning is difficult, especially when it moves at a high speed. Up to now, this problem has not been solved perfectly. In this paper, we present an efficient positioning approach for a spherical rolling robot. Based on the approach, a moving spherical rolling robot can be positioned at an arbitrary pose and at any time.

关键词： Mobile robots

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GAZE CONTROL FOR AN ACTIVE CAMERA SYSTEM BY MODELING HUMAN PURSUIT EYE-MOVEMENTS

GAZE CONTROL FOR AN ACTIVE CAMERA SYSTEM BY MODELING HUMAN P...

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11TH CONF ON intelligent robots AND computer vision : algorithms, techniques, AND ACTIVE vision

作者： TOLG, S Ruhr Univ. Bochum 1 Federal Republic of Germany

ISBN: (纸本)0819410268

The ability to stabilize the image of one moving object in the presence of others by active movements of the visual sensor is an essential task for biological systems, as well as for autonomous mobile robots. An algorithm is presented that evaluates the necessary movements from acquired visual data and controls an active camera system (ACS) in a feedback loop. No a priori assumptions about the visual scene and objects are needed. The algorithm is based on functional models of human pursuit eye movements and is to a large extent influenced by structural principles of neural information processing. An intrinsic object definition based on the homogeneity of the optical flow field of relevant objects, i.e., moving mainly fronto- parallel, is used. Velocity and spatial information are processed in separate pathways, resulting in either smooth or saccadic sensor movements. The program generates a dynamic shape model of the moving object and focuses its attention to regions where the object is expected. The system proved to behave in a stable manner under real-time conditions in complex natural environments and manages general object motion. In addition it exhibits several interesting abilities well-known from psychophysics like: catch-up saccades, grouping due to coherent motion, and optokinetic nystagmus.

关键词： computer vision

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From vision to action: Grasping unmodeled objects from a heap

From vision to action: Grasping unmodeled objects from a hea...

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Conference on intelligent robots and computer vision XIV - algorithms, techniques, Active vision, and Materials Handling

作者： Rutishauser, M Ade, F SWISS FED INST TECHNOL IMAGE SCI LABCH-8092 ZURICHSWITZERLAND

ISBN: (纸本)0819419524

We have investigated the problem of removing objects from a heap without having recourse to object models. This capability is useful for `intelligent singulation', i.e., the decomposition of a heap into isolated objects. As we are exclusively relying on geometric information, the use of range data is a natural choice. To ensure that we see opposite patches of the object surfaces, we use up to three range views from different directions. These views are triangulated using the data points as vertices. After merging the views, the resulting surface description is segmented, i.e., partitioned into large sets of contiguous triangles which correspond to objects or object components in the scene. The system then tries to detect grasping opportunities. Two heuristics guide the selection of a `focus of action' which consists of a suitable component. For this component, good grasping point pairs are found by using an intelligent search technique. If no pairs are found due to impending collisions or bad grasping quality another component is checked. Finally the robot performs the grasping. Force sensing allows the correction of inaccuracies of the vision system and the handling of collisions.

关键词： range data segmentation evidence accumulation discrete optimization grasping

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