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

作者： Ge, Kanbing Forging Ctr Co Ltd Osaka Japan

This paper describes progress toward a street-crossing system for an outdoor mobile robot. The system can detect and track vehicles in real time. It reasons about extracted motion regions to decide when it is safe to ... 详细信息

ISBN: (纸本)9780819469243

关键词： mobile robots street crossing computer vision vehicle tracking

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Framework for the implementation of vision-based fuzzy logic navigational algorithms for a mobile robot

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

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 310-319页

作者： Akec, John Steiner, Simon J. Univ. of Birmingham Birmingham UK United Kingdom

ISBN: (纸本)0819423068

Fuzzy logic has been promoted recently by many researchers for the design of navigational algorithms for mobile robots. The new approach fits in well with a behavior-based autonomous systems framework, where common-sense rules can naturally be formulated to create rule-based navigational algorithms, and conflicts between behaviors may be resolved by assigning weights to different rules in the rule base. The applicability of the techniques has been demonstrated for robots that have used sensor devices such as ultrasonics and infrared detectors. However, the implementation issues relating to the development of vision-based, fuzzy-logic navigation algorithms do not appear, as yet, to have been fully explored. The salient features that need to be extracted from an image for recognition or collision avoidance purposes are very much application dependent;however, the needs of an autonomous mobile vehicle cannot be known fully 'a priori'. Similarly, the issues relating to the understanding of a vision generated image which is based on geometric models of the observed objects have an important role to play;however, these issues have not as yet been either addressed or incorporated into the current fuzzy logic-based algorithms that have been purported for navigational control. This paper attempts to address these issues, and attempts to come up with a suitable framework which may clarify the implementation of navigation algorithms for mobile robots that use vision sensor/s and fuzzy logic for map building, target location, and collision avoidance. The scope for application of this approach is demonstrated.

关键词： Mobile robots

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Calibration and Rectification Research for Fish-eye lens Application

Calibration and Rectification Research for Fish-eye lens App...

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Conference on intelligent robots and computer vision xxviii: algorithms and techniques

作者： Feng, Weijia Zhang, Baofeng Cao, Zuoliang Zong, Xiaoning Roning, Juha Tianjin Univ State Key Lab Precis Measuring Technol & Instrume Tianjin 300072 Peoples R China Tianjin Univ Technol Sch Elect Engn Tianjin 300384 Peoples R China Univ Oulu Dept Elect & Informat Engn FIN-4500900 Oulu Finland Infotech Oulu Intelligent Syst Grp FIN-4500900 Oulu Finland

ISBN: (纸本)9780819484154

The purpose of this paper aims to promote the application of fish-eye lens. Accurate parameters calibration and effective distortion rectification of an imaging device is of utmost importance in machine vision. Fish-eye lens produces a hemispherical field of view of an environment, which appears definite significant since its advantage of panoramic sight with a single compact visual scene. But fish-eye lens image has an unavoidable inherent severe distortion. The precise optical center is the precondition for other parameters calibration and distortion correction. Therefore, three different optical center calibration methods have been researched for diverse applications. Support Vector Machine (SVM) and Spherical Equidistance Projection Algorithm (SEPA) are integrated to replace traditional rectification methods. SVM is a machine learning method based on the theory of statistics, which have good capabilities of imitating, regression and classification. In this research, SVM provides a mapping table between the fish-eye image and the standard image for human eyes. Two novel training models have been designed. SEPA has been applied to promote the rectification effect of the edge of fish-eye lens image. The validity and effectiveness of our achievements are demonstrated by processing the real images.

关键词： Fish-eye lens calibration distortion rectification SVM spherical equidistance projection algorithm

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IMPROVEMENT OF ALGORITHM ABOUT CORNER DETECTION IN OBJECT FEATURE-EXTRACTION

IMPROVEMENT OF ALGORITHM ABOUT CORNER DETECTION IN OBJECT FE...

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

作者： SUN, GL Institute of Optics and Electronics (China)

An improved algorithm for corner detection in object feature extraction is presented. Due to the introduction of a novel linear transformation, the feature of the chain-code can be applied more reasonably, not only co... 详细信息

ISBN: (纸本)0819410268

关键词： Corner detection Detection and tracking algorithms Feature extraction Image segmentation computer vision technology Machine vision Robot vision robots Microfabrication Sun

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ROBUST REGRESSION IN computer vision

ROBUST REGRESSION IN COMPUTER VISION

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： MEER, P MINTZ, D Univ. of Maryland (United States)

ISBN: (纸本)0819404489

We describe the least median of squares (LMedS) robust estimator which identifies the surface corresponding to the absolute majority of the data points. However when all the data points are corrupted by noise LMedS may fail. This is the case in computer vision applications and we have developed a new approach which preserves the robustness of LMedS but avoids its artifacts in the presence of noise.

关键词： computer vision technology Machine vision Data modeling Robot vision robots Visual process modeling Image segmentation Statistical analysis Image processing Statistical modeling

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VALIDITY CRITERION FOR COMPACT AND SEPARATE FUZZY PARTITIONS AND ITS JUSTIFICATION

VALIDITY CRITERION FOR COMPACT AND SEPARATE FUZZY PARTITIONS...

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： XIE, X BENI, G Univ. of California/Santa Barbara (United States)

ISBN: (纸本)0819404489

This paper presents a new fuzzy validity function which is mathematically justified via its relationship to the separation index a well defmed hard clustering validity function. The condition for existence of a unique globally optimal fuzzy c-partition has been found. The performance of this function compares well with other validity measures.

关键词： Fuzzy logic computer vision technology Machine vision Robot vision robots Visualization Detection and tracking algorithms Pattern recognition Robotic systems Stars

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Advanced remote operation of swarms of robots

Advanced remote operation of swarms of robots

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

作者： Tikanmäki, A Röning, J Univ Oulu Intelligent Syst Grp Oulu 90014 Finland

ISBN: (纸本)081945561X

This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots can be either simulated or real physical robots. In addition to direct control of the robots, the user interface part of the tool can be used to develop robot behaviours using plug-ins made with Java or our graphical state machine editor. The development and testing of behaviours can be facilitated by using methods tested with the supporting simulation features of the tool before controlling real robots.

关键词： swarm of robots remote operation behaviours markers

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MEASURING SHAPES BY SIZE FUNCTIONS

MEASURING SHAPES BY SIZE FUNCTIONS

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CONF ON intelligent robots AND computer vision 10 : algorithms AND techniques

作者： FROSINI, P Univ. di Bologna (Italy)

ISBN: (纸本)0819407445

We define the concept of size functions. They are functions from the real plane to the natural numbers which describe the `shape of the objects' (seen as submanifolds of a Euclidean space). We give two different techniques of computation of size functions and some actual examples of computation. Moreover, we present the concept of deformation distance between manifolds (i.e., curves, surfaces, etc.). It is a distance which measures the `difference in shape' of two manifolds. Finally we point out the link between deformation distances and size functions.

关键词： Robot vision robots Astatine computer vision technology Evolutionary algorithms Machine vision Optical spheres Distance measurement Shape analysis Artificial intelligence

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APPLICATION OF MORPHOLOGICAL TRANSFORMATIONS IN DEFECT DETECTING OF PRINTED-CIRCUIT BOARD (PCB)

APPLICATION OF MORPHOLOGICAL TRANSFORMATIONS IN DEFECT DETEC...

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

作者： YUAN, SF ZHANG, XR CHEN, LX HONG, J Harbin Institute of Technology (China)

ISBN: (纸本)0819410268

The application of morphological transformations in defect detecting of printed circuit boards (PCB) is discussed. computer simulation results are given to demonstrate defect detection of PCBs with morphological transformations. A programmable optical binary image morphological processor is given to implement this kind of defect detecting.

关键词： Defect detection Binary data Image processing computer vision technology Machine vision computer simulations Computing systems Frame grabbers Robot vision robots

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SEGMENTATION USING RANGE DATA AND STRUCTURED LIGHT

SEGMENTATION USING RANGE DATA AND STRUCTURED LIGHT

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： HU, GZ Central Michigan Univ. (United States)

ISBN: (纸本)0819404489

A segmentation approach is presented that uses combined information of range data and structured light. Structured light are good for extracting surface patches that cannot be easily obtained from gray scale images. Furthermore surface normal discontinuity can be detected at light stripe flection points. Accidental alignments of light stripes may confuse the boundaries of surfaces that are at different depths. This problem can be solved using range data that are specially good for detecting depth discontinuity.

关键词： Image segmentation Structured light Robot vision Image processing algorithms and systems computer vision technology Machine vision robots Algorithm development Detection and tracking algorithms 3D image processing

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