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检索条件"任意字段=International Symposium on Computational Intelligence in Robotics and Automation"

共 3096 条记录，以下是131-140 订阅

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Surveillance robotics: analyzing scenes by colors analysis and clustering

Surveillance Robotics: analyzing scenes by colors analysis a...

引用

IEEE international symposium on computational intelligence in robotics and automation

作者： Castelnovi, M Musso, P Sgorbissa, A Zaccaria, R Univ Genoa LaboratoriumDIST Genoa Italy

ISBN: (纸本)0780378660

We describe a surveillance system which allows a mobile robot, operating within a familiar setting, to detect unexpected changes in the environment (i.e., presence or absence of objects or persons, unexpectedly opened/closed doors or windows, etc.). To achieve this, the robot "looks at" the environment through a TV camera;next, it compares what "it sees" in a specific moment with what "it should see" at that same location. In particular, an approach is proposed for images comparison which requires to find color clusters in the color histograms corresponding to the images to be compared: by analyzing the color clusters in the two images, the system detects similarities or differences between them and consequently deduces if something has changed in the scene. Since the techniques proposed in literature usually rely on the geometrical characteristics of the objects to be detected (besides cromination), "ad hoc" algorithms have been implemented for color clusters comparison;the proposed techniques can be used alone or in cooperation with existing pattern recognition methods in order to increase the performance of the whole system.

关键词： Color

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Development of visual simultaneous localization and mapping (VSLAM) for a pipe inspection robot

Development of visual simultaneous localization and mapping ...

引用

international symposium on computational intelligence in robotics and automation

作者： Krys, Dennis Najjaran, Homayoun IRC NRC 1200 Montreal Rd Ottawa ON K1A 0R6 Canada Univ British Columbia Sch Engn Kelowna BC Canada

ISBN: (纸本)9781424407897

This paper describes a visual simultaneous localization and mapping (VSLAM) method for a pipe inspection robot that can serve as a carrier for nondestructive testing (NDT) sensors inside in-service water mains. The proposed method features a multi-sensor fusion system that simultaneously executes two important functions of the robot: construct a global image of the internal surface of the pipe and provide the location of the NDT sensors. The fusion involves a synergy between image mosaicing and dead reckoning. More precisely, the sequential images of a digital camera are stitched together with the help of an inertial navigation system (INS). In the proposed model, the processing load of image mosaicing is reduced significantly, and at the same time the accumulation of error of the INS is prevented. The functionality of the model is verified using a simulator that mimics the motion of a pipe inspection robot inside a water main.

关键词： Computer vision Mobile robotics Pipe inspection Sensor fusion SLAM

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Application for Robot Motion Planning

Application for Robot Motion Planning

引用

9th IEEE international symposium on Applied computational intelligence and Informatics (SACI)

作者： Petrisor, Gheorghe-Marian Stanciu, Loredana Politehn Univ Timisoara Automat & Appl Informat Dept Timisoara Romania

ISBN: (纸本)9781479946945

robotics is a fascinating field of engineering that provides many opportunities for research. In addition, the evolution of technology in recent years has led to intelligent mobile robots. They can be sent in hard places for humans either because they are dangerous, either because they are difficult to access. The control of these robots, however, is a difficult task that involves knowledge in different areas such as robotics, automation, programming, electronics, etc. The article presents a dedicated application for robot motion planning using the homogeneous decomposition method and Lee's algorithm. The application can be used to simulate real life situations and it is part of a bigger project which intends to create an artificial intelligence control system for mobile robots.

关键词： Mobile robots Robot kinematics motion planning robotics Robot BIG SHOT PROJECT field engineer

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Navigation of an outdoor service robot by matching 2D laser scans

Navigation of an outdoor service robot by matching 2D laser ...

引用

2005 IEEE international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Selkäinaho, Jorma Forsman, Pekka Automation Technology Laboratory Helsinki University of Technology P.O.Box 5500 FIN-02015 TKK Finland

Autonomous navigation of a mobile robot is a challenging task. Much work has been done in indoor navigation in the last 10-15 years. Fewer results have been obtained in outdoor robotics. Laser range finder technology has evolved remarkably over the last decade, and offers a fast and accurate method for navigation and environment modeling. It is obvious that the use of several alternative sensors, selected according to the environment, will make the navigation system more flexible. In this paper we describe a flexible navigation system for unknown outdoor environments. The system uses all available sensor information and emphasizes those that best suit the particular operation environment. The core of the navigation system is laser odometry, which is discussed in more detail. © 2005 IEEE.

关键词： Industrial robots

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A Pose Estimation Method for Fisheye Cameras Based on the EPnP Algorithm

A Pose Estimation Method for Fisheye Cameras Based on the...

引用

11th international symposium on computational intelligence and Industrial Applications, ISCIIA 2024

作者： Wang, Chenxiao Wang, Biao Ding, Yulong Xiao, Dunhui Chen, Ben M. Zhang, Keping Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China Tongji University Shanghai China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong China State Grid Nanjing Lishui District Power Supply Jiangsu Nanjing China

ISBN: (纸本)9789819647521

Fisheye cameras offer a wider field of view compared to traditional pinhole cameras. This paper presents a pose estimation method for fisheye cameras based on the EPnP algorithm. A unified projection model is used to analyze the imaging process, and it is shown to be applicable to fisheye cameras. A virtual pinhole camera is constructed, where the image captured by the fisheye camera is mapped onto the virtual camera’s image. The resulting virtual 2D reference points are then used as input to the EPnP algorithm for estimating the fisheye camera’s pose. The mapping error from the fisheye image to the virtual camera image is analyzed, revealing that the process does not amplify pixel error when extracting 2D reference points. It is recommended to select points near the image’s central focus as 2D reference points. Experimental results demonstrate that the proposed method is both reliable and efficient. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Pinhole cameras

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Multitask reinforcement learning on the distribution of MDPs

Multitask reinforcement learning on the distribution of MDPs

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IEEE international symposium on computational intelligence in robotics and automation

作者： Tanaka, F Yamamura, M Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Tokyo 152 Japan

ISBN: (纸本)0780378660

In this paper we address a new problem in reinforcement learning. Here we consider an agent that faces multiple learning tasks within its lifetime. The agent's objective is to maximize its total reward in the lifetime as well as a conventional return in each task. To realize this, it has to be endowed an important ability to keep its past learning experiences and utilize them for improving future learning performance. This time we try to phrase this problem formally. The central idea is to introduce an environmental class, BV-MDPs that is defined with the distribution of MDPs. As an approach to exploiting past learning experiences, we focus on statistics (mean and deviation) about the agent's value tables. The mean can be used as initial values of the table when a new task is presented. The deviation can be viewed as measuring reliability of the mean, and we utilize it in calculating priority of simulated backups. We conduct experiments in computer simulation to evaluate the effectiveness.

关键词： Reinforcement learning

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An occlusion prediction algorithm for visual servoing tasks in a multi-arm robotic cell

An occlusion prediction algorithm for visual servoing tasks ...

引用

2005 IEEE international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Lippiello, Vincenzo Siciliano, Bruno Villani, Luigi PRISMA Lab. Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Via Claudio 21 80125 Napoli Italy

This paper presents a new approach to the prediction of visual occlusions for a robotic system performing visual servoing tasks. The case of a multi-arm robotic cell equipped with a multi-camera eye-to-hand visual system is considered. The proposed approach is able to predict the self occlusions as well as the mutual occlusions caused by the robot links and tools. The algorithm is based on the geometric representation of the cell in terms of a BSP tree, assuming that the CAD geometry of the objects and the kinematic model of the multi-arm robotic system are known. Experimental results are presented for the case of two industrial robots performing a vision-guided grasping task. © 2005 IEEE.

关键词： robotics

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Harmonic Opponent Modeling and Behavior Structure for 3D Soccer Simulation Agent

Harmonic Opponent Modeling and Behavior Structure for 3D Soc...

引用

IEEE international symposium on computational intelligence in robotics and automation

作者： Jozi, B. Fakharian, A. Nademi, M. Khanian, M. Yousefi Azar Islamic Azad University Qazvin Branch Faculty of Electrical Computer and IT Engineering Iran

ISBN: (纸本)9781424448081

As the beginning of the 3D soccer simulation competitions the simulated humanoid robots were used to play soccer in simulated games, this event shifted the aim of the soccer simulation from the design of strategic behaviors into the low level skills like walking and kicking in soccer player itself at first, but by the improvement of these skills new challenge of how to play soccer has been engendered, so having a framework for agents that supports a hierarchy of behaviors is inevitable, in this paper we proposed a behavior structure for agents which consists of low level skills such as kicking and walking and high level skills like ball-handled and go to ball which uses a combination of low level skills, and also a simple method of opponent modeling called Harmonic opponent modeling which model the walking speed of opponent agent.

关键词： Artificial intelligence Behavior structure engineering Opponent modeling 3D soccer simulation

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Exploring the world through grasping: A developmental approach

Exploring the world through grasping: A developmental approa...

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2005 IEEE international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Natale, Lorenzo Orabona, Francesco Metta, Giorgio Sandini, Giulio LIRA-Lab. DIST University of Genoa Viole Causa 13 16145 Genoa Italy

This paper is about the implementation of grasping skills in a humanoid robot. Following a developmental approach the robot is initially equipped with little perceptual and motor competencies whose role is to bootstrap learning through the exploration of the external environment. This crude form of sensorimotor coordination consists of a set of control systems and explorative behaviors as well as simple visual routines. The developmental path leads the robot from the exploration of the physics and geometry of its body to the probing of the external environment. The robot experience builds and modifies continuously its internal representations of the environment, being this its body or the objects it encounters. We discuss the implications of our approach to the study of cognition and our effort to build a cognitive artificial system. ©2005 IEEE.

关键词： robotics

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Comparison between micro-objects manipulations in dry and liquid mediums

Comparison between micro-objects manipulations in dry and li...

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2005 IEEE international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Gauthier, Michaël Lopez-Walle, Beatriz Clévy, Cédric Laboratory of Automation of Besançon LAB UMR-CNRS-6596 24 rue Savary 25000 Besançon France

In the submillimetric objects manipulations, the adhesion (capillary force, pull-off force and Van-der-Waals force) and the electrostatic forces affect the behavior of the micro-objects. These forces decrease significantly when the micro-objects are submerged in a liquid medium. So a microassembly task is easier to perform in a submerged medium than in air. Consequently, the study of the micro-objects assembly automation in liquid mediums is a promising topic. This article introduces a review of the major differences between dry and submerged micromanipulation. The influences of the medium on electrostatic forces, pull-off force and hydrodynamic forces are presented. Adhesion perturbations are significally reduced in liquid and hydrodynamic forces are advantageous to limit the maximal micro-objects velocity. Some comparative experimental micromanipulations are described and prove the interest of the liquid medium. © 2005 IEEE.

关键词： Manipulators

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