An experimental modeling language for general purpose simulation, roboticcontrol and factory automation is presented. The advantages of a visual programming interface and data flow architecture are examined. Primaril...
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ISBN:
(纸本)0819442992
An experimental modeling language for general purpose simulation, roboticcontrol and factory automation is presented. The advantages of a visual programming interface and data flow architecture are examined. Primarily, the model based organization is proposed as a means of integrating various intelligent systems disciplines to enhance problem solving abilities and improve system utility.
In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking...
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ISBN:
(纸本)0819442992
In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a onmidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions axe continously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.
The proceedings contains 24 papers from the conference on sensorfusion and decentralizedcontrol in roboticsystems IV. The topics discussed include: delayed and asequent data in decentralized sensing networks;rover ...
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The proceedings contains 24 papers from the conference on sensorfusion and decentralizedcontrol in roboticsystems IV. The topics discussed include: delayed and asequent data in decentralized sensing networks;rover localization results for the FIDO rover;performance of a distributed robotic system using shared communications channels;people tracking using omnidirectional vision and range information;development of PetRo: a modular robot for petlike applications;integrated virtual space control system utilizing hand gesture for intelligent house.
The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed th...
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ISBN:
(纸本)0819442992
The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass robot configurations. Hyperion is a rover designed and built for experiments in sun-synchronous exploration. This paper details Hyperion's steering mechanism and control, which features 4-wheel independent drive and an innovative passively articulated steering joint for locomotion.
Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself...
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ISBN:
(纸本)0819442992
Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself. However, GPS cannot be used in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. In this paper we consider the problem of building and maintaining an extremely large map (of one million beacons). We describe a fully distributed, highly scaleable SLAM algorithm which is based on distributed data fusionsystems. A central map is maintained in global coordinates using the Split Covariance Intersection (SCI) algorithm. Relative and local maps are run independently of the central map and their estimates are periodically fused with the central map.
In Optical Computerized Tomography (OCT) reconstruction, the well-known restrictions are positivity of the field and boundary conditions. In this paper, the extra information - the probed value of a set of isolated po...
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ISBN:
(纸本)0819442992
In Optical Computerized Tomography (OCT) reconstruction, the well-known restrictions are positivity of the field and boundary conditions. In this paper, the extra information - the probed value of a set of isolated points, which is readily available in industrial practice, is introduced into OCT based on information fusing (IF) techniques. To solve the incompatibility of the different testing systems, which brings high frequencies disturbance to the reconstruction, an adaptive algorithm is developed to make a good use of the pointwise priori. The algorithm derived from the third Algebraic Reconstruction Technique (ART3), is not only friendly to the information from various measuring systems, but very robust to irregular noise and even missing projections as well. By analyzing the simulated experiments, we strongly suggest that OCT give some attention to the information from external resources.
Estimation of superresolution models is a problem of great interest across a broad range of applications in computer vision and robot perception. However, approaches to superresolution model estimation tend to have ve...
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ISBN:
(纸本)0819442992
Estimation of superresolution models is a problem of great interest across a broad range of applications in computer vision and robot perception. However, approaches to superresolution model estimation tend to have very high computational complexity. In this paper, we address the superresolution model estimation problem using a general modelling approach based on two-layer Bayesian or causal networks. sensor nodes encode stochastic sensor models, while model nodes encode probabilistic inferences made about their state. The model nodes are arranged as a MRF spatial lattice. We derive optimal estimation procedures for several classes of superresolution world models, including single and multiple observation models, and analyze their computational complexity. We subsequently introduce three suboptimal estimation methods: Reinjection of Marginals (ROM), Independent Opinion Pool (IOP), and Non-Propagation of Neighbours (NPN). These methods, although suboptimal, are extremely efficient and provide high-quality superresolution estimates. We conclude by presenting results from the application of these procedures to the fusion of multiple aerial images to form highly accurate superresolution images for airborne surveying and monitoring applications.
This paper proposes an integrated virtual space control system for intelligent house room which consists of many kinds of appliances and information systems to enrich human life. The main features of the system are 1)...
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ISBN:
(纸本)0819442992
This paper proposes an integrated virtual space control system for intelligent house room which consists of many kinds of appliances and information systems to enrich human life. The main features of the system are 1) the user controls the system via a large size display which represents system state linked to "real" appliances, 2) the system utilizes hand gesture to realize intuitive interaction, 3) the virtual space of the display utilizes 3D drag-and-drop metaphor. As for the core component of the proposed system, the paper reports implementation of a hand motion tracking system with multiple views and a controllable camera. Experimental results show that the tracking system solves a problem of the system scale explosion to achieve the accuracy and stability in real-time tracking.
robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. This paper discusses components of a perception architecture being developed ...
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ISBN:
(纸本)0819442992
robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. This paper discusses components of a perception architecture being developed for AURORA (Autonomous Unmanned Remote Monitoring robotic Airship). The AURORA project focusses on the development of the technologies required for substantially autonomous unmanned aerial vehicles, and for robotic airships in particular. We describe our approach to spatial representation, which incorporates a Markov Random Field (MRF) model used for encoding spatial inferences obtained from sensor imagery. We present a dynamic approach to target recognition that uses a cycle of hypothesis formulation, experiment planning for hypothesis validation, experiment execution, and hypothesis evaluation to confirm or reject the classification of targets into object classes. We also discuss an approach to automatic hovering and landing using visual servoing techniques and interaction matrices, and present preliminary experimental results from our work.
In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of th...
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ISBN:
(纸本)0819442992
In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera and IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.
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