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Hand-eye coordination with an active camera head

Hand-eye coordination with an active camera head

Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Bishay, M Peters, A Wilkes, DM Kawamura, K Rockwell Semiconductor Systems (United States) Vanderbilt Univ. (United States)

ISBN: (纸本)0819426407

Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision - active central of camera position and camera parameters - facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called Fixation Point Servoing (FPS), uses target fixation to eliminate the need for Jacobian computation. Additionally, FPS requires only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.

关键词： robotics visual servoing active vision fixation pan-tilt heads

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KNOWLEDGE-BASED SYSTEM FOR ANALYSIS OF AERIAL IMAGES

KNOWLEDGE-BASED SYSTEM FOR ANALYSIS OF AERIAL IMAGES

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

作者： SHARIAT, H Lockheed Palo Alto Research Lab. (United States)

ISBN: (纸本)0819404489

In this paper we describe a system for monitoring activities in aerial images. The system uses many knowledge sources and databases to guide the interpretation process. It has an innovative control scheme for managing the execution of the tasks utilizing of its knowledge sources and updating of its many databases. As a result the system not only is aware of the existence and usefulness of all knowledge present in its vanous databases it also knows how to use that knowledge and the processing modules in cooperation to achieve a common goal of detecting events of interests from a set of aerial photographs. Also to overcome the difficulties of the object recognition task a model-based technique is used to detect predict verify and recognize the objects of interests in the scene.

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

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NEURAL-NET SELECTION METHODS FOR GABOR TRANSFORM DETECTION FILTERS 12

NEURAL-NET SELECTION METHODS FOR GABOR TRANSFORM DETECTION F...

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： CASASENT, D SMOKELIN, JS CARNEGIE MELLON UNIV CTR EXCELLENCE OPT DATA PROCPITTSBURGHPA 15213

ISBN: (纸本)0819413208

New Gabor transform (GT) filters to detect candidate object locations independent of the object class, object distortions, and for low contrast objects in clutter are described. A new neural network (NN) technique is described to automate selection of GT parameters and to combine multiple Gabor functions (GFs) into once composite macro GF detection filter. Fusion of real and imaginary GT filter outputs is used to reduce false alarms, (P_FA), while maintaining high detection rates (P_D). Test results on the TRIM-2 database are provided.

关键词： Image filtering Neural networks Target detection computer vision technology Machine vision Robot vision robots Edge detection Evolutionary algorithms Databases

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RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PLANE TRANSFORM

RECOGNITION OF MOVING VEHICLES USING DIRECTIONAL-TEMPORAL PL...

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

作者： TANIGUCHI, H FURUSAWA, H SEKI, A IKEBATA, S Mitsubishi Electric Corp. (Japan)

ISBN: (纸本)0819407445

Traffic flow measurement systems, which recognize vehicles and measure traffic parameters by image processing, are researched. We propose a new recognition method for moving vehicles using directional-temporal plane transform (DTT) for the system. DTT is a transformation from spatiotemporal data to 2-D data onto a directional-temporal plane. The transformation is done by projecting feature data of vehicles to a directional axis which is roughly parallel to the moving loci, and by placing the projected data stream side by side in temporal order. We also show an effective extraction algorithm of vehicles from the 2-D data obtained by DTT. Experimental results using real images demonstrate the effectiveness of this method.

关键词： Image processing Detection and tracking algorithms Robot vision robots Machine vision computer vision technology Cameras Edge detection Magnetic sensors Roads

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The 15^th Annual intelligent Ground Vehicle Competition:: intelligent ground robots created by intelligent students

The 15<SUP>th</SUP> Annual Intelligent Ground Vehicle Compet...

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

作者： Theisen, Bernard L. USA Tank Automotive Res Ctr Dev & Engn Warren MI 48397 USA

ISBN: (纸本)9780819469243

The intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 15 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

关键词： intelligent robots autonomous systems ground vehicles engineering education IGVC

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Establishing joint goals through observation

Establishing joint goals through observation

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： VanWie, M Univ. of Rochester (United States)

ISBN: (纸本)0819426407

When interacting with intelligent agents, it is vital to understand something of their intentions. Agents' itentions provide context in spoken dialog, help to define their future plans (and thus actions), and reveal information about their beliefs. We propose a method by which agents' intentions are inferred by observing their actions. Explicit communication among agents is not permitted. The joint intentions framework(1) specifies the behaviors and obligations of agents that share in a cooperative intention. Our work focuses on the creation of such joint intentions through observation and plan recognition. The plan recognition structure uses Bayes Nets to reason from observations to actions, and Hidden Markov Models to reason from sequences of actions to intent.

关键词： intelligent agents

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Modelling the positioning accuracy of sensor-based robots

Modelling the positioning accuracy of sensor-based robots

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, Active vision, and Materials Handling

作者： Jarviluoma, M Heikkila, T VTT Automation Machine Automation FIN-90571 Oulu P.O. Box 13023 Finland

ISBN: (纸本)0819426407

This paper describes a method for expressing and manipulating position and orientation uncertainty in sensor-based robotics. The goal is to formulate a computational framework where the effects of accumulating uncertainties, originating from internal and external sensors, are shown as uncertainties in tool frame positions and orientations. The described method is based on using covariance matrices of position and orientation parameters. The used orientation parameters are xyz Euler angles. There are three different forms of spatial uncertainty and uncertainty manipulation involves transformations between these forms. These transformations are done by using linearisation around nominal relations. Paper presents the basic formulas for these transformations and also three calculation examples.

关键词： spatial uncertainty intelligent robotics sensor fusion

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A PROJECT ORIENTED APPROACH TO THE TEACHING OF MACHINE PERCEPTION

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IEEE TRANSACTIONS ON EDUCATION 1993年第4期36卷 380-383页

作者： MYLER, HR Department of Electrical and Computer Engineering University of Central Florida Orlando FL USA

Advanced courses in the areas of Machine Perception and Machine Intelligence are not easy to prepare or conduct due to the dynamic research nature of the field. In engineering, our interest is in the construction of intelligent machines in the form of robotic devices or through computer simulation models. Studies in this area are further complicated by the broad range of disciplines that must be accessed in order to provide adequate coverage. This discussion focuses on a set of computer simulation projects that have been assigned at various times during offerings of an advanced graduate level course entitled Machine Perception. The format of the projects are presented with discussion of student results. The projects were novel in that they require advanced techniques of machine vision and are open-ended in that there are no specific solutions. The problems represent the mainstream of machine perception research without requiring more effort than is possible in a one semester course. Students responded with algorithms developed in a variety of computer languages and on various machines.

关键词： Education Humans Machine vision Machine intelligence Signal detection Information processing Layout intelligent robots computer simulation Image analysis

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ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN computer vision 12

ON WAVELET IMAGE REPRESENTATION AND APPLICATIONS IN COMPUTER...

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： FARAG, AA WANG, B UNIV LOUISVILLE DEPT ENGN MATH & COMP SCILOUISVILLEKY 40292

ISBN: (纸本)0819413208

In this paper, a number of spatial/spatial-frequency image representations are reviewed. Wavelets have recently generated much interest, both in applied areas as well as in more theoretical ones. Wavelet tranlorm relative to some basic wavelets, provides aflexible time-frequency window which automatically narrows when observing high frequency phenomena and widens when studying lowfrequency environments. As a result, it is suitablefor visual information representation. Applications in computer vision such as image compression and image enhancement are examined. © 1993 SPIE.

关键词： Image representation

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Visual world perception modeling and control of cooperative mobile robots

Visual world perception modeling and control of cooperative ...

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Conference on intelligent robots and computer vision XXI

作者： Shirkhodaie, A Tennessee State Univ Intelligent Tact Mobil Res Lab Dept Mech & Mfg Engn Nashville TN 37209 USA

ISBN: (纸本)081945155X

There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

关键词： world perception modeling cooperative robots robot pose estimation

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