To overcome the lack of flexibility and inadequacy in performance speed of perception systems for use in real-time tasks, the authors have applied integrated learning techniques to a perception system that is based on...
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To overcome the lack of flexibility and inadequacy in performance speed of perception systems for use in real-time tasks, the authors have applied integrated learning techniques to a perception system that is based on a selective sensing paradigm. The incorporation of multiple learning algorithms at different levels provides a great deal of flexibility and robustness when different perceptual task are performed. Using a selective sensing paradigm allows the system to eliminate a large amount of nonpertinent sensory data so that processing speed is greatly increased. Such a perception system is being implemented on an autonomous mobile agent. The methodology and a preliminary example of learning within the perception system are presented.< >
This Conference Proceedings contains 58 papers presented in 8 sessions dealing with: vision and robotics problems needing solutions;pattern recognition for computervision;image processing;intelligent materials handli...
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This Conference Proceedings contains 58 papers presented in 8 sessions dealing with: vision and robotics problems needing solutions;pattern recognition for computervision;image processing;intelligent materials handling and vision;novel preprocessing algorithms and hardware;technology to support intelligentrobots and automated systems;fuzzy logic in intelligent systems and computervision;image segmentation techniques. The topics considered include the following, among others: learning procedure for the recognition of 3-D objects from 2-D images;flexible gray-level vision system based on multiple cell feature description and Hough transform;extraction of the foveal center and lesion boundary from fundus images;design and characterization of a space-variant CCD sensor;toward a general formula for analogical learning leading to more autonomous systems;image analysis using attributed fuzzy tournament matching algorithm;fuzzy logic for fault diagnosis;color segmentation using minimum description length (MDL) clustering;segmentation using range data and structured light;finding distinctive colored regions in images;multiresolution segmentation of forward-looking IP and SAR imagery using neural networks.
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.
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.
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. F...
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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.
This paper describes an algorithm which recovers 6 degrees of freedom ( that is rotational and translational matrices R and T ) of polyhedral objects using L-corners in a monocular image. First the gradients of the ci...
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ISBN:
(纸本)0819404489
This paper describes an algorithm which recovers 6 degrees of freedom ( that is rotational and translational matrices R and T ) of polyhedral objects using L-corners in a monocular image. First the gradients of the cirtain object''s faces are determined using the constraints derived from angles of L-corners. R accompanied by the object is then determined. Second a constraint concerning T is derived from a junction point of a Lcorner. After that T is determined using a set of constraints derived from the L-corners that contributed to the determination of R. By assembling only those L-corners the cirtain object is recognized.
The pattern spectrum describes the shape and size of structures in an n-dimensional signal. Measurement of the pattern spectrum is based on morphological operations which use a variety of structuring elements to filte...
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ISBN:
(纸本)0819404489
The pattern spectrum describes the shape and size of structures in an n-dimensional signal. Measurement of the pattern spectrum is based on morphological operations which use a variety of structuring elements to filter a signal at multiple spatial scales. This paper reports on the use of pattern spectra in the grayscale domain for classifying different textures and in the binary domain for object recognition. The advantage of morphological image processing is that it is based on highly parallel primitive operations which are amenable to large-scale implementation in real-time signal processing hardware.
This paper describes an original approach to the analysis and prediction of graylevel textures generated as equilibrium states of Gibbs/Markov random fields. This approach is physically motivated by the analogy that e...
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ISBN:
(纸本)0819404489
This paper describes an original approach to the analysis and prediction of graylevel textures generated as equilibrium states of Gibbs/Markov random fields. This approach is physically motivated by the analogy that exists between the graylevel textures and the miscibility patterns of multiphase flows. The physics of the situation is captured using miscibility matrices that are related to the co-occurrence matrices classically used for texture discrimination. Simulations are provided to motivate and illustrate our approach.
The complexity of computing 3D workspaces for joint limited redundant manipulators is examined. Different types of reachable workspace volume and reachable workspace boundary problems are defined. Each type of volume ...
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ISBN:
(纸本)0819404489
The complexity of computing 3D workspaces for joint limited redundant manipulators is examined. Different types of reachable workspace volume and reachable workspace boundary problems are defined. Each type of volume problem is at least as hard as its corresponding type of boundary problem, and each problem type is at least NP hard. New efficient and adaptive workspace point computation techniques are proposed (e.g. based on nonlinear programming) after complexity analyses of the corresponding decision problems.
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