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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301-310 订阅

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Symbolic processing methods for 3D visual processing

Symbolic processing methods for 3D visual processing

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

作者： Tedder, M Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081944300X

The purpose of this paper is to describe a theory that defines an open method for solving 3D visual data processing and artificial intelligence problems that is independent of hardware or software implementation. The goal of the theory is to generalize and abstract the process of 3D visual processing so that the method can be applied to a wide variety of 3D visual processing problems. Once the theory is described a heuristic derivation is given. Symbolic processing methods can be generalized into an abstract model composed of eight basic components. The symbolic processing model components are: input data;input data interface;symbolic data library;symbolic data environment space;relationship matrix;symbolic logic driver;output data interface and output data. An obstacle detection and avoidance experiment was constructed to demonstrate the symbolic processing method. The results of the robot obstacle avoidance experiment demonstrated that the mobile robot could successfully navigate the obstacle course using symbolic processing methods for the control software. The significance of the symbolic processing approach is that the method arrived at a solution by using a more formal quantifiable process. Some of the practical applications for this theory are: 3D object recognition, obstacle avoidance, and intelligent robot control.

关键词： symbolic processing computer vision laser scanning mobile robots artificial intelligence

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Active objects programming for military autonomous mobile robots software prototyping

Active objects programming for military autonomous mobile ro...

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

作者： Cozien, RF French Department of Defense ENSTB Image and Info. Processing Dept. Brest France

ISBN: (纸本)081944300X

While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical "body" is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a "reactive" robot brings other difficulties. A "reactive" robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge pannel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily sol

关键词： object oriented programming active object autonomous robots software prototyping military purpose

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vision system for fast 3D obstacle detection via stereovision matching.

Vision system for fast 3D obstacle detection via stereovisio...

引用

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

作者： Bouayed, HA Pissaloux, EE Abdallah, SM CNRS Lab Robot Paris F-78140 Velizy Villacoublay France

ISBN: (纸本)081944300X

Image matching is one of the fundamental problems of computer vision. Various approaches exist. They differ essentially by extracted primitives, by the best match search strategy, and by final applications. Feature based dense matching methods use such geometric primitives as raw pixels, edges, interest points, etc. Some of the correlation based matching methods involve a distance calculation, a time consuming operations. Its enhancement adds pixel complex photometric characteristics such as gradient direction, local curvature and luminosity local disparity, what increases the matching time, but they are usually very noisy. The matching method noise dependency and data volume can be reduced when improving the 'interest point' robustness. This paper proposes to add to 'interest point primitive' a set (vector) of simple characteristics (geometric and photometric), which are invariant to geometric plan transforms. A matching method based upon these enriched pixels and accumulation array concept is presented as well. These elements are useful for 3D obstacle detection in the on-going project "intelligent glasses", our final application. The intelligent glasses is a vision system for humanoid robot and for blinds/visually impaired persons under joint development by Rouen University and Robotics Laboratory in Paris.

关键词： Stereo vision

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Fuzzy-based human vision properties in stereo sonification system for the visually impaired

Fuzzy-based human vision properties in stereo sonification s...

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

作者： Nagarajan, R Yaacob, S Sainarayanan, G Univ. Malaysia Sabah (Malaysia)

ISBN: (纸本)081944300X

This paper presents incorporation of certain human vision properties in the image processing methodologies, applied in the vision substitutive system for human blind. The prototype of the system has digital video camera fixed in a headgear, stereo earphone and a laptop computer, interconnected. The processing of the captured image is designed as human vision. It involves lateral inhibition, which is developed using Feed Forward Neural Network (FFNN) and domination of the object properties with suppression of background by means of Fuzzy based Image Processing System (FLIPS). The processed image is mapped to stereo acoustic signals to the earphone. The sound is generated using non-linear frequency incremental sine wave. The sequence of the scanning to construct the acoustic signal is designed to produce stereo signals, which aids to locate the object in horizontal axis. Frequency variation implies the location of object in the vertical axis. The system is tested with blind volunteer and his suggestion in formatting, pleasantness and discrimination of sound pattern were also considered.

关键词： electronic travel aid sonification vision aid edge detection background suppression iris

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Study of cooperative algorithm and group behavior in multi-robot

Study of cooperative algorithm and group behavior in multi-r...

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

作者： Hong, SW Park, KS Shin, SW Ahn, DS Pukyong Natl Univ Sch Mech Engn Intelligent Control Lab Nam Gu Pusan 608739 South Korea

ISBN: (纸本)081944300X

In a multi-agent system, the action selection strategy is important for the cooperation and coordination of multi agents. However the overlap of actions selected individually by each robot makes the acquisition of cooperation behaviors less efficient. In addition to that, a complex and dynamic environment makes cooperation even more difficult. So in this paper, we propose a control algorithm which enables each robot to determine the action for the effective cooperation in multi-robot system. We employ a reinforcement learning in order to choose a proper action for each robot in its action subspace. In this paper, robot soccer system is adopted for the multi-robot environment. To play a soccer game, elementary actions such as shooting and passing must be provided. Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulations, the efficiency of own proposed algorithm is verified for the cooperation in multi robot system.

关键词： robot soccer Q-learning cooperation reinforcement learning fuzzy

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vision based overlay of a virtual object into real scene for designing room interior

Vision based overlay of a virtual object into real scene for...

引用

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

作者： Harasaki, S Saito, H Keio Univ Dept Informat & Comp Sci Kohoku Ku Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)081944300X

In this paper, we introduce a geometric registration method for augmented reality (AR) and an application system, interior simulator, in which a virtual (CG) object can be overlaid into a real world space. Interior simulator is developed as an example of an AR application of the proposed method. Using interior simulator, users can visually simulate the location of virtual furniture and articles in the living room so that they can easily design the living room interior without placing real furniture and articles, by viewing from many different locations and orientations in real-time. In our system, two base images of a real world space are captured from two different views for defining a projective coordinate of object 3D space. Then each projective view of a virtual object in the base images are registered interactively. After such coordinate determination, an image sequence of a real world space is captured by hand-held camera with tracking non-metric measured feature points for overlaying a virtual object. Virtual objects can be overlaid onto the image sequence by taking each relationship between the images. With the proposed system, 3D position tracking device, such as magnetic trackers, axe not required for the overlay of virtual objects. Experimental results demonstrate that 3D virtual furniture can be overlaid into an image sequence of the scene of a living room nearly at video rate (20 frames per second).

关键词： vision based system registration 3D interaction techniques augmented reality

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Omni-vision based autonomous mobile robotic platform

Omni-vision based autonomous mobile robotic platform

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

作者： Cao, ZL Hu, J Cao, J Hall, EL Tianjin Univ Technol Tianjin Peoples R China

ISBN: (纸本)081944300X

As a Laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

关键词： mobile robot omni directional vision navigation teach-and-playback image database

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Active video flow control technique based on spatio-temporal segmentation of video sequences

Active video flow control technique based on spatio-temporal...

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

作者： Urdiales, C Bandera, A Rodríguez, JA Sandoval, F Univ Malaga ETSI Telecomun Dpto Tecnol Elect E-29071 Malaga Spain

ISBN: (纸本)081944300X

This paper presents a control mechanism for video compression and transmission that relies on spatio-temporal image segmentation and non-uniform resolution representation. In the proposed scheme, a linked pyramid structure(1). is built over each frame. Therefore, the video sequence is processed as a 3D data batch instead of a series of 2D images. The spatio-temporal segmentation is based on the adaptive link principle(1,2). The set of link defined between nodes of a single pyramid structure is extended to consecutive pyramids. According to the adaptive link principle, links between consecutive pyramids axe rearranged so that a given node at a pyramid is linked to an homogeneous region of pixels at its base, but also to an homogeneous region of pixels at the base of the previous pyramid. Hence, resulting regions axe coherent in time but also in space and any region may be extracted and tracked through the sequence by following the link structure. Then, if we assume that the Most important regions of the frames are typically those changing more often, they can be represented at high resolution, while the least important regions can be represented at low resolution. This operation allows a severe data volume reduction when transmitting the video signal Besides, regions presenting few changes from frame to frame do not need to be transmitted as often as moving areas because they will be very similar during a few frames.

关键词： active vision non-uniform resolution images spatio-temporal segmentation video transmission

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Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multi-robot cooperative tasks

Robotic automation for space: planetary surface exploration,...

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

作者： Schenker, PS Huntsberger, TL Pirjanian, P Baumgartner, E Aghazarian, H Trebi-Ollennu, A Leger, PC Cheng, Y Backes, PG Tunstel, EW Dubowsky, S Iagnemma, K McKee, GT MIT Cambridge MA 02139 USA

ISBN: (纸本)081944300X

During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.

关键词： mobile robots mobile manipulators robot architectures robot control intelligent control machine vision sensor fusion modular robots Mars exploration NASA robotics

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Real-time robot learning

Real-time robot learning

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IEEE International Conference on Robotics and Automation (ICRA)

作者： B. Bhanu P. Leang C. Cowden Y. Lin M. Patterson Center for Research in Intelligent Systems University of California Riverside CA USA

ISBN: (纸本)0780365763

This paper presents the design, implementation and testing of a real-time system using computer vision and machine learning techniques to demonstrate learning behavior in a miniature mobile robot. The miniature robot, through environmental sensing, learns to navigate a maze choosing the optimum route. Several reinforcement learning based algorithms, such as the Q-learning, Q(/spl lambda/)-learning, fast online Q(/spl lambda/)-learning and DYNA structure, are considered. Experimental results based on simulation and an integrated real-time system are presented for varying density of obstacles in a 15/spl times/15 maze.

关键词： Robot vision systems Robot sensing systems Real time systems Machine learning Cameras Orbital robotics Robot kinematics intelligent robots Learning systems Navigation

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