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Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and Active vision

作者： Abidi, Besma R. Sari-Sarraf, Hamed Goddard, James S. Hunt, Martin A. Oak Ridge Natl Lab Oak Ridge United States

This paper describes an algorithm for the automatic segmentation and representation of surface structures and non-uniformities in an industrial setting. The automatic image processing and analysis algorithm is developed as part of a complete on-line web characterization system of a papermaking process at the wet end. The goal is to: (1) link certain types of structures on the surface of the web to known machine parameter values, and (2) find the connection between detected structures at the beginning of the line and defects seen on the final product. Images of the pulp mixture (slurry), carried by a fast moving table, are obtained using a stroboscopic light and a CCD camera. This characterization algorithm succeeded where conventional contrast and edge detection techniques failed due to a poorly controlled environment. The images obtained have poor contrast and contain noise caused by a variety of sources. After a number of enhancement steps, conventional segmentation methods still failed to detect any structures and are consequently discarded. techniques tried include the Canny edge detector, the Sobel, Roberts, and Prewitt's filters, as well as zero crossings. The facet model algorithm, is then applied to the images with various parameter settings and is found to be successful in detecting the various topographic characteristics of the surface of the slurry. Pertinent topographic elements are retained and a filtered image computed. Carefully tailored morphological operators are then applied to detect and segment regions of interest. Those regions are then selected according to their size, elongation, and orientation. Their bounding rectangles are computed and represented. Also addressed in this paper are aspects of the real time implementation of this algorithm for on-line use. The algorithm is tested on over 500 images of slurry and is found to segment and characterize nonuniformities on all 500 images.

关键词： computer vision

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intelligent robot trends and predictions for the new millennium

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1999年 3837卷 14-25页

作者： Hall, Ernest L. Mundhenk, Nathan

ISBN: (纸本)0819434302

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for `Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

关键词： intelligent robots

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Real-time Path Planning for intelligent robots System Based on vision Information

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IFAC Proceedings Volumes 1999年第2期32卷 861-866页

作者： Qingchun Meng Changjiu Zhou K. Jagannathan K.S. Leong Hongbo Ji Department of Electronics & Communication Engineering of Singapore Polytechnic 139651 Tel: 65 7721440 Fax: 65 7721974. Singapore Computer Science Dept. of Yantai University 264005 Yantai China State Key Lab. of Intelligent Technology & Systems of Tsinghua University 100084 Beijing China

Real-time path planning is a key subject in the research of a Multi-robot system, such as in soccer robot system, as in such system there are several robots to coordinate to complete one task and its workspace is time-varying. There exist unpredictable changes in such workspace. These changes will make the robots path planning tremendously hard. This paper introduce the study on the real-time planning of a multi-robot system, such as soccer robots system. In such systems, as there exist multiple mobile robots, robots path planning is highly required of real-time and of high path planning quality. In this paper, the definitions of Active Obstacle and Dominating Robot are put forward. Genetic-planning and Fuzzy-correction are developed as our path planning techniques. The concept of Sector Vital Value is proposed for Genetic-planning and Fuzzy-correction. Block-Inserting strategy is employed to further improve the system's real-time performance in the workspace modelization. It takes only 2% of workspace modeling time required by Grid-modeling technique. After taking the proposed measures, the system's real-time performance is improved a lot. The initial simulation shows that our planning strategy can meet real-time demand.

关键词： Multi-agent System Path Planning Fuzzy Logic Genetic algorithms

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Situation-oriented behavior-based stereo vision to gain robustness and adaptation in manipulator control

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1999年 3837卷 90-97页

作者： Nguyen, Minh-Chinh

ISBN: (纸本)0819434302

An new concept for visually guided manipulator control is introduced. It eliminates the need for a calibration of the manipulator as well as of the vision system and comprises an automatic adaptation to changing parameters. A key point of the concept is the achievement of a complex and elaborate desired goal by activating an appropriate sequence of rather simple elementary behaviors. Contrary to conventional stereo vision methods it uses an calibration-free camera system and allows a direct transition from image coordinates to motion control commands of a robot. By this approach, the abstract coordinate transformations have been avoided, instead, image data are used directly to control the behavior of the robot, or the interactions of the robot with physical objects. Thus, it makes knowledge of many hard-to-measure optical and mechanical system unnecessary;moreover, it lends itself to the realization of learning and adaptive robots. The concept has been successfully realized and tested in real-word experiments with an visually guided calibration-free 5 degree of freedom (DOF) manipulator involving the grasping of various objects with nearly any shape in arbitrary position (standing, lying, sloping) in the robot' 3-D work space.

关键词： computer vision

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Feature detection and map building using ranging sensors

Feature detection and map building using ranging sensors

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International Conference on intelligent Transportation

作者： M. Kulich P. Stepan L. Preucil The Gerstner Laboratory for Intelligent Decision Making and Control Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

This paper describes two methods for feature extraction. The goal is to interpret the data obtained from sonar measurements of the robot's environment as geometric map primitives. The extracted primitives can be used to update the robot position and the global map. This is the process how the robot can explore an unknown environment. The first algorithm gathers sonar measurements into sensor-based map and then using computer-vision techniques and morphological operations extracts geometric description of detected obstacles. The second method is started whenever the border tracking algorithm has been activated. This method uses raw sonar data as the input while obstacle border is robustly detected by the border tracking process. The algorithms have been verified with an experimental mobile robot at the Czech Technical University.

关键词： computer vision Robot sensing systems Sonar measurements Mobile robots Sonar detection Sensor fusion intelligent sensors Data mining Robustness Laboratories

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

Proceedings of the 1998 Conference on Intelligent Robots and...

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Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

The proceedings contains 53 papers from the SPIE Conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision. Topics discussed include: planetary rovers for long-range Mars science and sample return;pose estimation;geometric and orthogonal moments;Shen-Castan and Canny-Deriche filters;Bayesian neural network learning;robot guidance;face recognition;wireless video monitoring and robot control;image processing for intelligent robotics;robot path planning, guidance and control;color computer vision;3D visualization for intelligent robotics;active robotic vision;and image segmentation in computer vision.

关键词： Robotics

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Active stereo for mobile robot vision

Active stereo for mobile robot vision

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

作者： Viitanen, J VTT Automat FIN-33101 Tampere Finland

ISBN: (纸本)081942983X

This paper describes a practical approach for environment perception using fusion of active ranging with a low-power laser and passive, stereo based ranging. A low-cost, coarse pitch linear detector is used, but still sufficient distance accuracy for mobile robotics is achieved by using a new method of sub-pixel calibration. The device is intended for mobile robot or vehicle perception duties in obstacle detection and target position measurement.

关键词： computer vision stereo mobile robots

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Planning of collision free paths for holonic Blastman robots

Planning of collision free paths for holonic Blastman robots

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

作者： Rintala, M Heikkila, T Blastman Robot Ltd FIN-90101 Oulu Finland

ISBN: (纸本)081942983X

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out succesfully.

关键词： robots Space robots Telescopes Robotic systems Space telescopes Algorithm development Manufacturing computer programming Free space Robotics

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intelligent robot trends for 1998

Intelligent robot trends for 1998

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

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

ISBN: (纸本)081942983X

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

关键词： Control systems Robotics Robot vision Mechatronics Manufacturing Sensors Visualization intelligent sensors Kinematics Safety

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Fast face localization for mobile robots: signature analysis and color processing

Fast face localization for mobile robots: signature analysis...

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

作者： Grana, M Gonzalez, AI Raducanu, B Echave, I UPV EHU Dept CCIA San Sebastian 20080 Spain

ISBN: (纸本)081942983X

The purpose of our works is to provide fast and reliable face localization techniques in real time an in real-life scenes. Person localization is included in this problem. The end application sought is the ability of mobile robots to navigate in human populated environments, and to start visual interaction with them. Known methods are computationally intensive, far from real time implementation at near future processing power of off-the-shelf processors. Our technique is based in motion segmentation, signature analysis and color processing. Signature analysis provides fast hints of the person and face localization. Color processing is used to confirm the face hypothesis, and it is based on our works on adaptive color quantization of image sequences. The technique can be implemented in real time and combined with other approaches to enhance the recognition results.

关键词： color processing face localization person localization

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