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Planning of regrasp operations

Planning of regrasp operations

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning artificial intelligence Laboratories computer science Process control Manipulators Production

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vision-based monitoring of weaving sections

Vision-based monitoring of weaving sections

引用

International Conference on Intelligent Transportation

作者： O. Masoud N.P. Papanikolopoulos E. Kwon Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Center for Transportation Studies University of Minnesota Minneapolis MN USA

This paper presents algorithms for vision-based monitoring of weaving sections. These algorithms have been developed for the Minnesota department of Transportation in order to acquire data for several weaving sections in the Twin Cities Area. Unlike commercially available systems, the proposed algorithms can track and count vehicles as they change lanes. Furthermore, they provide the velocity and the direction of each vehicle in the weaving section. Experimental results from various weaving sections with various weather conditions are presented. The proposed methods are based on the establishment of correspondences among blobs and vehicles as the vehicles move through the weaving section. The blob tracking problem is formulated as a bipartite graph optimization problem.

关键词： Weaving Traffic control computerized monitoring Road vehicles Road transportation Vehicle detection Data mining Space vehicles Layout artificial intelligence

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Pose alignment of an eye-in-hand system using image morphing

Pose alignment of an eye-in-hand system using image morphing

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Positioning an eye-in-hand robotic system with respect to a static target is a challenging research problem since it involves recognition of the object and the desired pose at which alignment is to occur, planning a trajectory for the robot to attain this pose, and careful calibration of the system and the environment. In this paper we introduce a unified framework based on image morphing, to address the above problems and apply it to the task of translational and rotational alignment of an eye-in-hand system to planar objects or planar projections of 3D objects. In our method the desired manipulator pose for each object is defined and stored as a view of the object taken from this pose. The identity of an unknown object in the workspace is established by morphing its image to the views in the database, and using a quantification of the morph as a dissimilarity measure. The synthetic images generated during the morph are used guide an eye-in-hand system to the desired pose. The framework can accommodate partially occluded or deformable targets and smooth trajectories can be generated since an arbitrary number of intermediate images can be used.

关键词： Calibration Robot vision systems Error correction Trajectory artificial intelligence Intelligent robots Laboratories computer science Target recognition Image databases

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Letter-level shape description by skeletonization in faded documents

Letter-level shape description by skeletonization in faded d...

引用

IEEE Workshop on Applications of computer vision (WACV)

作者： R. Singh M.C. Wade N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We present a method for determining the skeletal shape description for letters in texts faded due to ageing and/or poor ink quality. The proposed algorithm is interesting in that it neither involves assumptions about demarcation of object regions from the background, nor does it require pixel connectivity in the text regions. Consequently, it may be applied for obtaining the shape descriptions of "sparse" regions, which are characteristic of letters in faded documents. Given the pixel distribution for a letter or a word from a faded document, the method involves an iterative evolution of a piecewise-linear approximation of the principal curve of this pixel distribution. By constraining the principal curve to lie on the edges of the Delaunay triangulation of the shape distribution, the adjacency relationships between regions in the shape can be detected and used in evolving the skeleton. The approximation of the principal curve, on convergence, gives the final skeletal shape. The skeletonization is invariant to Euclidean transformations and is adaptive in terms of the topology of the underlying shape distribution as well as in the number of units needed for the piece-wise approximation of the principal curve.

关键词： Shape Skeleton Text analysis Degradation Aging artificial intelligence Intelligent robots Robot vision systems Laboratories Ink

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Generalized Hermite polynomials for image reconstruction from zero crossing contours

引用

IEEE International Conference on Image Processing

作者： Y.V. Venkatesh Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

ISBN: (纸本)0818688211

Generalized Hermite polynomials in two variables are employed for the reconstruction of images from a knowledge of their zero crossing contours. The problem of reconstruction of signals as functions of two variables is not a mere extension of that of a single variable. This is a consequence of the fact that the spatial and spectral characteristics of two-variable functions are quite distinct from what one can expect from their separate projections on to the coordinate axes. One of the results of the paper is that we cannot guarantee uniqueness in reconstruction unless we impose certain constraints on, for instance, space-bandwidth products/ratios in the x/spl omega//sub x/, y/spl omega//sub y/ directions, of the unknown image. Further, a distinguishing feature of the proposed approach is that the standard assumption of bandlimitedness is not invoked. The proposed framework is believed to provide a more unified procedure for signal reconstruction (of uni- and multi-dimensional signals) from partial information than most of the results of the literature. For lack of space, only the main analytical and computational results are presented.

关键词： Polynomials Image reconstruction Filtering theory Image analysis Signal processing algorithms Geometry computer vision artificial intelligence Laboratories Signal reconstruction

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Recognition of 2D shapes through contour metamorphosis

Recognition of 2D shapes through contour metamorphosis

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Singh I. Pavlidis N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

A novel method for 2D shape recognition is proposed. The method employs as a dissimilarity measure the degree of morphing between a test shape and a reference shape. A physics-based approach substantiates the degree of morphing as a deformation energy and casts the problem as an energy minimization problem. The method operates upon key segmentation points that are provided by an appropriate segmentation algorithm. The recognition paradigm is invariant to translation, rotation, and scaling. It can handle both convex and non-convex shapes. The proposed system exhibits robust recognition behavior and real-time performance in a series of experiments. The experiments also highlight the ability of the method to recognize deformable shapes.

关键词： Shape Wire Testing Defense industry Image recognition Optical character recognition software Character recognition Animation artificial intelligence Intelligent robots

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Robust pedestrian tracking using a model-based approach

Robust pedestrian tracking using a model-based approach

引用

International Conference on Intelligent Transportation

作者： O. Masoud N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

This paper presents a real-time system for pedestrian tracking in sequences of grayscale images acquired by a stationary CCD camera. The objective is to integrate this system with a pedestrian control scheme for intersections. The system outputs the spatio-temporal coordinates of each pedestrian during the period the pedestrian is in the scene. Processing is done at three levels: raw images, blobs, and pedestrians. Our method models pedestrians as rectangular patches with a certain dynamic behavior. Kalman filtering is used to estimate pedestrian parameters. The system was implemented on a Datacube MaxVideo 20 equipped with a Datacube Max860 and was able to achieve a peak performance of over 20 frames per second. Experimental results based on indoor and outdoor scenes demonstrated the system's robustness under many difficult situations such as partial and full occlusions of pedestrians.

关键词： Robustness Layout Real time systems Gray-scale Charge coupled devices Charge-coupled image sensors Control systems Kalman filters Filtering Parameter estimation

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A metamorphosis-based shape recognition method

A metamorphosis-based shape recognition method

引用

International Conference on Digital Signal Processing (DSP)

作者： R. Singh J. Pavlidis N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

We present a framework for matching and recognition of planar shapes based on a method from computer graphics based animation, called "shape metamorphosis". In our approach, the "degree of morphing" between two shapes is employed as a dissimilarity measure. A physics-based energy minimization approach is used for optimally computing the "degree of morphing". This measure is shown to have metric properties and invariance to translation, rotation, scaling and mirror symmetry. Experimentations in the recognition of planar shapes, hand-drawn figures, and online cursive words indicate the robustness of the recognition paradigm.

关键词： Shape measurement Optical character recognition software Hidden Markov models artificial intelligence Intelligent robots Robot vision systems Laboratories computer science Mirrors Robustness

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Eye-tracking for detection of driver fatigue

Eye-tracking for detection of driver fatigue

引用

International Conference on Intelligent Transportation

作者： M. Eriksson N.P. Papanikotopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

In this paper, we describe a system that locates and tracks the eyes of a driver. The purpose of such a system is to perform detection of driver fatigue. By mounting a small camera inside the car, we can monitor the face of the driver and look for eye-movements which indicate that the driver is no longer in condition to drive. In such a case, a warning signal should be issued. This paper describes how to find and track the eyes. We also describe a method that can determine if the eyes are open or closed. The primary criterion for the successful implementation of this system is that it must be highly nonintrusive. The system should start when the ignition is turned on without having the driver initiate the system. Nor should the driver be responsible for providing any feedback to the system. The system must also operate regardless of the texture and the color of the face. It must also be able to handle diverse conditions, such as changes in light, shadows, reflections, etc.

关键词： Fatigue Eyes Face detection Accidents Face recognition Real time systems artificial intelligence Intelligent robots Robot vision systems Laboratories

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Real-time vehicle following through a novel symmetry-based approach

Real-time vehicle following through a novel symmetry-based a...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Y. Du N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

This paper describes a novel approach to real-time vehicle following. A scheme, called "symmetry axis detection and filtering based on symmetry constraints", is proposed and has been implemented. This scheme incorporates many elements of our research efforts in sensor-based control of mobile robots and manipulators. The proposed algorithm detects and tracks the rear portion of the exterior of a leading vehicle via a camera mounted on a vehicle that belongs to a platoon. Our scheme uses the symmetry property of the shape of most vehicles. In particular, our technique takes advantage of the stable contour symmetry instead of the intensity symmetry. An algorithm that employs a voting technique is proposed in order to detect the vertical symmetry axis of the leading vehicle. A filtering method based on symmetry constraints is performed to eliminate the pixels which do not contribute to the leading vehicle's contour. As a result of the filtering, a distinct symmetric contour is obtained. Robustness and real-time performance of the symmetry-based scheme are greatly enhanced by using an adaptive processing window, the local symmetry properties, and a filtering procedure.

关键词： Filtering Vehicle detection Robot control Mobile robots Manipulators Robot vision systems Cameras Shape Voting Robustness

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