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

共 691 条记录，以下是241-250 订阅

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Navigation by cooperating mobile robots

Navigation by cooperating mobile robots

引用

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

作者： Schilling, KJ Julius Maximilians Univ Wurzburg Wurzburg Germany

ISBN: (纸本)081945561X

Cooperation between several mobile robots enables to address more complex tasks or to provide more robust performance. Navigation and localisation forms the basis for the coordination and autonomous behaviours of teams of mobile robots. Therefore analyses of the kinematics and of the sensor field of view for the different vehicles are summarized in order to characterize robust formations during movements. In this approach optimized robot formations with respect to the given sensor configurations are maintained by the control system during the joint motion towards the target. The application of this method for guidance by a navigator and for cooperative manipulation tasks is discussed and tested with mobile robot hardware.

关键词： navigation mobile robots robot cooperation sensor data fusion path planning control ranging sensors

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Human-robotic exploration of space and enabling technologies

Human-robotic exploration of space and enabling technologies

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

作者： Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)081945561X

Following on recent robotic exploration of Mars by twin Exploration Rovers (MER), the National Aeronautics and Space Administration (NASA) is now moving into a new program of human-robotic (H-R) exploration. This "National Space vision" was introduced in January 2004 by the US White House. The range of such exploration spans the inner planets and Earth moon, to outer planets, their moons and small bodies. Applicable systems and technologies include autonomous mobile robots operating on-and-near solar system bodies, telerobotic servicers, and ultimately, H-R work crews operating at lower and higher gravitational libration points as well as sustaining outposts on lunar and planetary bodies. In this invited talk, we give a brief technical perspective on the evolution from robotic to H-R space exploration.

关键词： space robotics space exploration mobile robots telerobotics human-robotic systems intelligent robots

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Advances in learning for intelligent mobile robots

Advances in learning for intelligent mobile robots

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

作者： Hall, EL Ghaffari, M Liao, XS Ali, SMA Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful applications in medicine, defense, industry and even the home so that the design of such machines is a challenge with great potential rewards. Even though intelligent systems may have symbiotic closure that permits them to make a decision or take an action without external inputs, sensors such as vision permit sensing of the environment and permit precise adaptation to changes. Sensing and adaptation define a reactive system. However, in many applications some form of learning is also desirable or perhaps even required. A further level of intelligence called understanding may involve not only sensing, adaptation and learning but also creative, perceptual solutions involving models of not only the eyes and brain but also the mind. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots with examples of adaptive, creative and perceptual learning. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to important beneficial applications.

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

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Processing real-time stereo video for an autonomous robot using disparity maps and sensor fusion

Processing real-time stereo video for an autonomous robot us...

引用

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

作者： Rosselot, D Hall, EL Univ Cincinnati Ctr Robot Res Dept Mech Ind & Nucl Engn Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

The Bearcat "Cub" Robot is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in unstructured environments. Recent advances in computer stereo vision algorithms that produce quality disparity and the availability of low cost high speed camera systems have simplified many of tasks associated with robot navigation and obstacle avoidance using stereo vision. Leveraging these benefits, this paper describes a novel method for autonomous navigation and obstacle avoidance currently being implemented on the UC Bearcat Robot. The core of this approach is the synthesis of multiple sources of real-time data including stereo image disparity maps, tilt sensor data, and LADAR data with standard contour, edge, color, and line detection methods to provide robust and intelligent obstacle avoidance. An algorithm is presented with Matlab code to process the disparity maps to rapidly produce obstacle size and location information in a simple format, and features cancellation of noise and correction for pitch and roll. The vision and control computers are clustered with the Parallel Virtual Machine (PVM) software. The significance of this work is in presenting the methods needed for real time navigation and obstacle avoidance for intelligent autonomous robots.

关键词： autonomous robot stereo vision disparity map sensor fusion parallel computing

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Diffractive-optical correlators: chances to make optical image pre-processing as intelligent as human vision.

Diffractive-optical correlators: chances to make optical ima...

引用

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

作者： Lauinger, N Corrsys Datron Sensorsysteme GmbH (Germany)

ISBN: (纸本)081945561X

The human eye is a good model for the engineering of optical correlators. Three prominent intelligent functionalities in human vision could in the near future become realized by a new diffractive-optical hardware design of optical imaging sensors: Illuminant-adaptive RGB-based Color vision, Monocular 3D vision based on RGB data processing, Patchwise fourier-optical Object-Classification and Identification. The hardware design of the human eye (Fig. 1) has specific diffractive-optical elements (DOE's) in aperture and in image space and seems to execute the three jobs at - or not far behind - the loci of the images of objects.

关键词： RGB color model Eye Cones 3D image processing Diffraction gratings 3D vision Modulators Human vision and color perception Near field optics Optical correlators

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Visual terrain mapping for traversable path planning of mobile robots

Visual terrain mapping for traversable path planning of mobi...

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

作者： Shirkhodaie, A Amrani, R Tunstel, E Tennessee State Univ Dept Mech & Mfg Engn Intelligent Tact Mobil Robot Lab Nashville TN 37209 USA

ISBN: (纸本)081945561X

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

关键词： terrain traversability assessment modeling visual terrain mapping image texture analysis

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Integration of image/video understanding engine into 4D/RCS architecture for intelligent perception-based behavior of robots in real-world environments

Integration of image/video understanding engine into 4D/RCS ...

引用

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

作者： Kuvich, G Smart Computer Vision Systems (United States)

ISBN: (纸本)081945561X

To be completely successful, robots need to have reliable perceptual systems that are similar to human vision. It is hard to use geometric operations for processing of natural images. Instead, the brain builds a relational network-symbolic structure of visual scene, using different clues to set up the relational order of surfaces and objects with respect to the observer and to each other. Feature, symbol, and predicate are equivalent in the biologically inspired Network-Symbolic systems. A linking mechanism binds these features/symbols into coherent structures, and image converts from a "raster" into a "vector" representation. 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, not the primary view, is a subject for recognition. Such recognition is not affected by local changes and appearances of the object as seen from a set of similar views. Once built, the model of visual scene changes slower then local information in the visual buffer. It allows for disambiguating visual information and effective control of actions and navigation via incremental relational changes in visual buffer. Network-Symbolic models can be seamlessly integrated into the NIST 4D/RCS architecture and better interpret images/video for situation awareness, target recognition, navigation and actions.

关键词： image video understanding network symbolic systems active vision UGV 4D/RCS

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Self-calibration algorithms for cameras and laser range finders

Self-calibration algorithms for cameras and laser range find...

引用

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

作者： Zhang, QL Pless, R Washington Univ Dept Comp Sci & Engn St Louis MO 63130 USA

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.

关键词： Sensors Cameras Calibration Motion estimation Laser range finders Motion measurement Imaging systems Algorithm development robots Sensor calibration

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Autonomous robot vision software design using Matlab toolboxes

Autonomous robot vision software design using Matlab toolbox...

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

作者： Tedder, M Chung, CJ Lawrence Technol Univ Southfield MI 48075 USA

ISBN: (纸本)081945561X

The purpose of this paper is to introduce a cost-effective way to design robot vision and control software using Matlab for an autonomous robot designed to compete in the 2004 intelligent Ground Vehicle Competition (IGVC). The goal of the autonomous challenge event is for the robot to autonomously navigate an outdoor obstacle course bounded by solid and dashed lines on the ground. Visual input data is provided by a DV camcorder at 160 x 120 pixel resolution. The design of this system involved writing an image-processing algorithm using hue, satuaration, and brightness (HSB) color filtering and Matlab image processing functions to extract the centroid, area, and orientation of the connected regions from the scene. These feature vectors are then mapped to linguistic variables that describe the objects in the world environment model. The linguistic variables act as inputs to a fuzzy logic controller designed using the Matlab fuzzy logic toolbox, which provides the knowledge and intelligence component necessary to achieve the desired goal. Java provides the central interface to the robot motion control and image acquisition components. Field test results indicate that the Matlab based solution allows for rapid software design, development and modification of our robot system.

关键词： computer vision algorithms autonomous mobile robots obstacle avoidance fuzzy logic neural networks

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Autonomous robot software development using simple software components

Autonomous robot software development using simple software ...

引用

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

作者： Burke, TM Chung, CJ Lawrence Technol Univ Dept Math & Comp Sci Southfield MI 48075 USA

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.

关键词： robotics autonomous robot computer science education simple software KISS image processing

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