The face recognition, one of the most important ability of intelligentvision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine...
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ISBN:
(纸本)0819423068
The face recognition, one of the most important ability of intelligentvision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine matching, and feature points extraction etc. are given Finally, a rapid and robust scheme for human face recognition are resulted.
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.
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 bei...
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ISBN:
(纸本)0819438626
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. In factory automation, industrial robots 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. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. 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 intelligentrobots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.
Textural filters that are designed in the texture spectrum domain are used by slightly changing rules in the calculation of the texture unit number by ordering the elements of the texture unit with respect to the posi...
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ISBN:
(纸本)0819413208
Textural filters that are designed in the texture spectrum domain are used by slightly changing rules in the calculation of the texture unit number by ordering the elements of the texture unit with respect to the positions of maximum and minimum gray level values as their initial positions in the 3 X 3 subimage. Following that, maximum and minimum values, in addition to the average value of standardized nine elements, are also considered in the transformation processes. Condition morphological filter is applied on the texture filtered image of 200 X 300 pixel data. The results are showing promising potential for geological feature recognition.
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 cen...
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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.
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...
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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.
In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual intelligent Ground Vehicle Competitions back-to-back. This ...
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ISBN:
(纸本)9780819489487
In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual intelligent Ground Vehicle Competitions back-to-back. This paper details the two-year design and development cycle for WPI's intelligent ground vehicle, Prometheus. The on-board intelligence algorithms include lane detection, obstacle avoidance, path planning, world representation and waypoint navigation. The authors present experimental results and discuss practical implementations of the intelligence algorithms used on the robot.
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 ...
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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, (PFA), while maintaining high detection rates (PD). Test results on the TRIM-2 database are provided.
Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptual...
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ISBN:
(纸本)9780819489487
Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptually, loop closing is divided into detection and optimization. Recent approaches depend on a single sensor to recognize previously visited places in the loop detection stage. In this study, we combine data of multiple sensors such as GPS, vision, and laser range data to enhance detection results in repetitively changing environments that are not sufficiently explained by a single sensor. We present a fast and robust hierarchical loop detection algorithm for outdoor robots to achieve a reliable environment representation even if one or more sensors fail.
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 t...
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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.
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