This paper researches into multi-robot parallel assembly optimization problem. The concepts of product parts system assembly proportion and assembly complexity are introduced with the parallel robot involved in produc...
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We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms...
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ISBN:
(纸本)9780769527864
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms that solve this problem. The first method computes an approximate globally optimal meeting point using numerical simplex minimization. The second method is a computationally cheap heuristic that computes a local heading for each robot: by iterating this method, all robots arrive at the globally optimal location. We compare the performance of both methods to a naive algorithm (center of mass). Finally, we show how to extend the methods with inter-robot communication to adapt to new environmental information.
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...
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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.
The shape completion problem refers to the interruption, e.g. by occlusion, of the geometric continuation of boundaries of objects. It is important to use a single visually pleasing curve segment to smoothly fill a ga...
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ISBN:
(纸本)9780769531533
The shape completion problem refers to the interruption, e.g. by occlusion, of the geometric continuation of boundaries of objects. It is important to use a single visually pleasing curve segment to smoothly fill a gap, even though the gap may not be filled in a curvature continuous manner Recently an algorithm for doing so using an Euler spiral segment was presented, the algorithm depends on initially fitting a biarc. An improved algorithm, which does not depend on first fitting a biarc, is now presented.
robots are becoming more and more prevalent in many real world scenarios. Housekeeping, medical aid, human assistance are a few common implementations of robots. Military and Security are also major areas where roboti...
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The underwater domain provides a wide range of potential applications for autonomous systems. Sessile (im-mobile) sensor platforms can provide a sensing network to monitor a range of different underwater events. Monit...
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Degradation of images of outdoor scenes caused by, varying conditions of visibility, can be exploited in order to get information on the scene. We propose two new methods for detecting occlusion edges between textured...
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ISBN:
(纸本)0769523196;0769523196
Degradation of images of outdoor scenes caused by, varying conditions of visibility, can be exploited in order to get information on the scene. We propose two new methods for detecting occlusion edges between textured areas of a scene. These methods are based on the use of partial derivatives of two images acquired under different conditions of visibility. They were validated on images of both synthetic and real scenes.
In this paper, we propose a new approach for point cloud registration based on a volumetric representation called the vector field. A surface classification method is first integrated in the vector field represention ...
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This paper discusses the semiconductor integrated circuit device called a vision chip, an image sensor in which each pixel has a processing element. Although similar devices have already been proposed, the major featu...
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We present a new segmentation method for visual hull (VH) reconstruction from an image sequence. The camera moves on a hemisphere around an object set on a turntable with complex and unknown background. Even though th...
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