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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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The 11^TH Annual intelligent Ground Vehicle Competition:: team approaches to intelligent driving and machine vision

The 11<SUP>TH</SUP> Annual Intelligent Ground Vehicle Compet...

引用

Conference on intelligent robots and computer vision XXI

作者： Theisen, BL Lane, GR USA Tank Automot ResDev & Engn Ctr Warren MI USA

ISBN: (纸本)081945155X

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. 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. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 11 years, the competition has challenged both undergraduates and graduates, including Ph.D. students with real world applications in intelligent transportation systems, the military, and manufacturing automation. To date, teams from over 40 universities and colleges have participated. In this paper, we describe some of the applications of the technologies required by this competition, and discuss 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 three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

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

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Learning for intelligent mobile robots

Learning for intelligent mobile robots

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Conference on intelligent robots and computer vision XXI

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

ISBN: (纸本)081945155X

Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot's motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

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

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computer simulations for comparison of pattern recognition based on different variants of distortion invariant correlation filters

Computer simulations for comparison of pattern recognition b...

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Conference on intelligent robots and computer vision XXI

作者： Evtikhiev, NN Ivanov, PA Lyapin, AS Shevchuk, AV Sirotkin, SI Starikov, RS Zaharcev, AV Moscow Engn Phys Inst Moscow 115409 Russia

ISBN: (纸本)081945155X

One of the widespread methods for distorted patterns is to use a distortion invariant correlation filters. Invariant filters have different properties that are quite good for different pattern recognition problems. This paper presents the results of computer simulations of pattern recognition using different modem approaches on distortion invariant correlation filters. The different types of correlation filters (MACE, GMACE, LPCCF, WBKF and others) are compared for input test sets of different examples of patterns. There are presented results of pattern recognition for different types of distortions. The output correlation peaks are compared by its characteristics. The obtained results of comparison provide that in some cases there are correspondences between the choused correlation filter, the variant of pattern and type of the distortion for optimal output peak characteristics.

关键词： correlation distortion pattern recognition invariant filters

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GPS error compensation algorithm using coordinates matching of vision system for land-vehicle navigation

GPS error compensation algorithm using coordinates matching ...

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Conference on intelligent robots and computer vision XXI

作者： Park, J Mun, S Choi, S Rho, D Chonbuk Natl Univ Div Elect & Informat Engn Jeonju South Korea

ISBN: (纸本)081945155X

In recent years, the Global Positioning System (GPS) has solidified its presence as a dependable means of navigation by providing absolute positioning in various applications. While GPS alone can provide of position information, it has several weaknesses, such as low data output rate and vulnerability to external disturbances. We explore the feasibility of an integrated positioning system using a Differential GPS (DGPS) and a CCD camera vision system for the control of an automated vehicle. In this paper we propose an algorithm that translates the camera coordinates into the TM coordinates and WGS84 coordinate in the area where the GPS data are not readily available. In this proposed method, various parameters are estimated and corrected, which includes heading angle, velocity, curvature of road, and height of road surface. We also present the results which were obtained using the actual vehicle equipped with the vision system. It was shown that errors in DGPS may be corrected by effectively using the measurement from the vision system.

关键词： DGPS DR WGS84 CCD coordinate conversion vision system

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Low cost, high performance robot design utilizing off-the-shelf parts and the Beowulf concept, The Beobot project.

Low cost, high performance robot design utilizing off-the-sh...

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Conference on intelligent robots and computer vision XXI

作者： Mundhenk, TN Ackerman, C Chung, D Dhavale, N Hudson, B Hirata, R Pichon, E Shi, Z Tsui, A Itti, L Univ So Calif Dept Comp Sci Henry Salvatori Comp Sci Ctr Los Angeles CA 90089 USA

ISBN: (纸本)081945155X

Utilizing off the shelf low cost parts, we have constructed a robot that is small, light, powerful and relatively inexpensive (< $3900). The system is constructed around the Beowulf concept of linking multiple discrete computing units into a single cooperative system. The goal of this project is to demonstrate a new robotics platform with sufficient computing resources to run biologically-inspired vision algorithms in real-time. This is accomplished by connecting two dual-CPU embedded PC motherboards using fast gigabit Ethernet. The motherboards contain integrated Firewire, USB and serial connections to handle camera, servomotor, GPS and other miscellaneous inputs/outputs. Computing systems are mounted on a servomechanism-controlled off-the-shelf "Off Road" RC car. Using the high performance characteristics of the car, the robot can attain relatively high speeds outdoors. The robot is used as a test platform for biologically-inspired as well as traditional robotic algorithms, in outdoor navigation and exploration activities. Leader following using multi blob tracking and segmentation, and navigation using statistical information and decision inference from image spectral information are discussed. The design of the robot is open-source and is constructed in a manner that enhances ease of replication. This is done to facilitate construction and development of mobile robots at research institutions where large financial resources may not be readily available as well as to put robots into the hands of hobbyists and help lead to the next stage in the evolution of robotics, a home hobby robot with potential real world applications.

关键词： Beowulf robot vision biology low cost modular off-the-shelf

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Reduction of computational complexity in the image/video understanding systems with active vision

Reduction of computational complexity in the image/video und...

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Conference on intelligent robots and computer vision XXI

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

ISBN: (纸本)081945155X

The vision evolved not only as a recognition system, but also as a sensory system for reaching, grasping and other motion activities. In advanced creatures, it has become a component of prediction functions, allowing the creation of environmental models and activity planning. Fast information processing and decision making requires reduction of informational and computational complexities. The brain achieves this goal using symbolic coding, hierarchical compression, and selective processing of visual information. Network-Symbolic representation, where both systematic structural/logical methods and neural/statistical methods are the parts of a single mechanism, is the most feasible for such models. It converts visual information into the relational Network-Symbolic structures, instead of precise computations of 3-dimensional models. Narrow foveal vision provides separation of figure from ground, object identification, semantic analysis, and precise control of actions. Rough wide peripheral vision identifies and tracks salient motion, guiding foveal system to salient objects. It also provides scene context. Objects and other stable systems have coherent relational structures. Network-Symbolic transformations derive more abstract structures that allow invariably recognize a particular structure as an exemplar of class. Robotic systems, equipped with such smart vision, will be able to navigate in any environment, understand situation, and act accordingly.

关键词： image video understanding network symbolic systems active vision knowledge engines

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Automatic calibration and neural networks for robot guidance

Automatic calibration and neural networks for robot guidance

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Conference on intelligent robots and computer vision XXI

作者： Sethuramasamyraja, B Ghaffari, M Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

An autonomous robot must be able to sense its environment and react appropriately in a variable environment. The University of Cincinnati Robot team is actively involved in building a small, unmanned, autonomously guided vehicle for the International Ground Robotics Contest organized by Association for Unmanned Vehicle Systems International (AUVSI) each year. The unmanned vehicle is supposed to follow an obstacle course bounded by two white/yellow lines, which are four inches thick and 10 feet apart. The navigation system for one of the University of Cincinnati's designs, Bearcat, uses 2 CCD cameras and an image-tracking device for the front end processing of the image captured by the cameras. The three dimensional world co-ordinates were reduced to two dimensional image coordinates as a result of the transformations taking place from the ground plane to the image plane. A novel automatic calibration system was designed to transform the image co-ordinates back to world co-ordinates for navigation purposes. The purpose of this paper is to simplify this tedious calibration using an artificial neural network. Image processing is used to automatically detect calibration points. Then a back projection neural algorithm is used to learn the relationships between the image coordinates and three-dimensional coordinates. This transformation is the main focus of this study. Using these algorithms, the robot built with this design is able to track and follow the lines successfully.

关键词： calibration robotics neural network robot guidance robot vision

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Autonomous cross country driving using Active vision

Autonomous cross country driving using Active Vision

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Conference on intelligent robots and computer vision XXI

作者： Pellkofer, M Hofmann, U Dickmanns, ED Siemens VDO Automot AG D-93055 Regensburg Germany

ISBN: (纸本)081945155X

For robust and safe cross country driving, an autonomous ground vehicle must be able to handle conflicts, which may arise from limitations of perception performance, of the dynamics of the vehicle's active camera head and from the feasibility of locomotion maneuvers. This paper describes the interaction and coordination of image processing, gaze control and behavior decision. The behavior decision module specifies the perception tasks for the image processing experts according to the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. Depending on its perception task received, an image processing expert specifies combinations of socalled rep-ions of attention (RoA) for each object in 3D object coordinates. These RoA cover relevant object parts and should be visible with a resolution and in a manner as required by the measurement techniques applied. The gaze control unit analyzes the combinations of RoA of all image processing experts in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. This dynamic interaction has been demonstrated in different complex and scalable autonomous missions with the UBM test vehicle VAMORS. The mission described in this paper makes the vehicle meet an unexpected ditch of unknown size and position forcing the vehicle to reactive behavior regarding locomotion, gaze control as well as image processing.

关键词： active vision autonomous vehicles cross country driving detection of negative obstacles stereo vision

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Internet-based control for the intelligent unmanned ground vehicle: Bearcat cub

Internet-based control for the intelligent unmanned ground v...

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Conference on intelligent robots and computer vision XXI

作者： Ghaffari, M Narayanan, S Sethuramasamyraja, B Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

Secure remote access with inter-operatability for operating a robot can be successfully achieved using the web services provided in the NET framework. The complete design of the machine discussed in this paper is made on the NET framework. The server which operates the robot is configured to US. The algorithm for obstacle detection is coded on a different server using the NET framework. By using web services, the robot can be accessed by other servers. These web services are consumed by the server on which the robot executes. A proxy is created on this server. The whole control is given in the form of a series of web pages which can be accessed by any web browser. However in order to input parameters and control the robot, authentication is required. The user provides authentication credentials which are matched with the existing information on the data base. After authentication, the user proceeds further to control the robot. The security and reliability of remote access is provided by the components that come with the web services namely, SOAP, WSDL and Proxy.

关键词： robotics .NET remote control tele-robotics Internet-based control unmanned ground vehicle

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Visual inspection on paper by machine vision

Visual inspection on paper by machine vision

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Conference on intelligent robots and computer vision XXI

作者： Kälviäinen, H Saarinen, P Salmela, P Sadovnikov, A Drobchenko, A Lappeenranta Univ Technol Dept Informat Technol Lab Informat Proc FIN-53851 Lappeenranta Finland

ISBN: (纸本)081945155X

There are several important standard laboratory experiments for determining the quality of produced paper in the paper making industry. To know the quality is essential since it defines the use of paper for various purposes. Moreover, customers are expecting a certain degree of quality. Many of paper printability tests are based on off-fine visual inspection. Currently these tests are done by printing test marks on a piece of paper and then observing the quality by a human evaluator. In this report visual inspection on paper by machine vision is discussed from a point of off-line industrial measurements. The work focuses on the following paper printability problems: missing dots (Heliotest), print dot density, unevenness of printing image, surface strength (IGT), ink setting, tinting, fiber counting, and digital printing. Compared to visual inspection by human evaluation, automated machine vision systems could offer several useful advantages: less deviations in measurements, better measurement accuracy, new printability parameters, shorter measurement times, less manpower to monotonic measurements, many quality parameters by one system, and automatic data transfer to mill level information systems. Current results with paper and board samples indicate that human evaluators could be replaced. However, further research is needed since the printability problems vary mill by mill, there is a large number of various paper and board samples, and the relationships between off-line and on-fine measurements must be considered.

关键词： paper printability paper making industry visual inspection machine vision image processing image analysis

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