In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy...
详细信息
In this paper a function approximation technique is proposed for adaptive backstepping design of a flexible-joint robot manipulator. The dynamics of the robot manipulator are derived with the assumption that all matri...
详细信息
The research presented in this paper represents several novel conceptual contributions to the computervision literature. In this position paper, our goal is to define the scope of computervision analysis and discuss...
详细信息
A fuzzy evolutionary algorithm (FEA) is presented by systematically integrating fuzzy expert systems with evolutionary algorithms in this paper. Both computer experiments and applications demonstrate that fuzzy evolut...
详细信息
A fuzzy evolutionary algorithm (FEA) is presented by systematically integrating fuzzy expert systems with evolutionary algorithms in this paper. Both computer experiments and applications demonstrate that fuzzy evolutionary algorithms can generally search for optimal solutions faster and more effectively than standard genetic algorithms. As a specific application, a FEA is applied to automatic robot trajectory generation without using inverse kinematics. An example is given to show that a trajectory of a 7 degree of freedom robot can be automatically generated using the proposed FEA.
This paper introduces novel methods for distinguishing dandelion weed leaves from grass blades and identifying the centroids of dandelion weeds by means of a webcam. Firstly, a method of isolating the colour green usi...
详细信息
ISBN:
(纸本)9781728135939
This paper introduces novel methods for distinguishing dandelion weed leaves from grass blades and identifying the centroids of dandelion weeds by means of a webcam. Firstly, a method of isolating the colour green using a Hue-Saturation-Value (HSV) scheme is proposed. Next, a technique for filtering the high frequency grass blades is developed to isolate individual low frequency of weed leaves. Subsequently, two novel methods: the lengthwise intersection method and mean centroid method are proposed to detect the location of the weed center based on the individual weed leaves. The detected location of the dandelion weed centroid has been used as the desired destination of autonomous driving system of a weed removal robot for successful dandelion removal.
Many image processing applications such as noise suppression and contrast enhancement are designed to be embedded in multimedia devices such as digital cameras. In order to test the accuracy and robustness of these al...
详细信息
This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume genera...
详细信息
ISBN:
(纸本)9780769531533
This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume generation, cost volume merging, and disparity selection. The main focus of this paper is on the second step and a new cost volume merging method is proposed, which combines the adaptive weight and the Parzen window approaches. The proposed method can deal with noise and visibility problems effectively, even with poorly generated cost volumes as input. The experimental results demonstrate the validity of our presented approach.
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to h...
详细信息
ISBN:
(纸本)9780769527864
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to higher detection accuracy to first look for other related objects, that are easier to detect. These provide contextual priors for the target that make it easier to find. We demonstrate this in simulation using POMDP models, focussing on two special cases: where the target object is contained within the related object, and where the target object is spatially adjacent to the related object.
In this paper we present our approach to 3D surface reconstruction from large sparse range data sets. In space robotics constructing an accurate model of the environment is very important for a variety of reasons. In ...
详细信息
ISBN:
(纸本)0769523196;0769523196
In this paper we present our approach to 3D surface reconstruction from large sparse range data sets. In space robotics constructing an accurate model of the environment is very important for a variety of reasons. In particular, the constructed model can be used for: safe tele-operation, path planning, planetary exploration and mapping of points of interest. Our approach is based on acquiring range scans from different view-points with overlapping regions, merge them, together into a single data set, and fit a triangular mesh on the merged data points. We demonstrate the effectiveness of our approach in a path planning scenario and also by creating the accessibility map for a portion of the Mars Yard located in the canadian Space Agency.
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. The robot is equipped with a camera system which dynamic...
详细信息
ISBN:
(纸本)9780769527864
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. The robot is equipped with a camera system which dynamically captures the environment. The visual potential is computed from an image sequence and optical flow computed from successive images captured by the camera mounted on the robot. Our robot selects a local pathway using the visual potential observed through its vision system. Our algorithm enables mobile robots to avoid obstacles without any knowledge of a robot workspace. We demonstrate experimental results using image sequences observed with a moving camera in a simulated environment and a real environment. Our algorithm is robust against the fluctuation of displacement caused by mechanical error of the mobile robot, and the fluctuation of planar-region detection caused by a numerical error in the computation of optical flow.
暂无评论