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 ...
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ISBN:
(纸本)9780819469243
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 cross.
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-e...
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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.
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...
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ISBN:
(纸本)0819410268
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 could the position of the corner by detected precisely, but the threshold can be selected easily.
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-se...
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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.
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...
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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.
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 ca...
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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.
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 ma...
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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 computervision applications and we have developed a new approach which preserves the robustness of LMedS but avoids its artifacts in the presence of noise.
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 t...
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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.
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...
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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.
This paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic program...
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ISBN:
(纸本)0819413208
This paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic programming. The reason for refinement is accurate shape classification.
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