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IEEE Symposium on Intelligent Vehicle

作者： M.J. Sullivan C.A. Richards C.E. Smith O. Masoud N.P. Papanikolopoulos Artificial Intelligence Department of Computer Science Robotics and Vision Laboratory University of Minnesota Minneapolis MN USA

The system proposed in this paper uses active deformable models to track pedestrians moving in dynamic real-world scenes. First, figure pixels are separated from a fixed or slowly evolving ground image. Then, an initial segmentation process identifies interesting pixel blobs for tracking. The output of the segmentation process is used to choose the starting position of the control points of the active deformable model. Once tracking has begun, the control points are updated at frame rates by minimizing an energy function involving the relative position of model points, image data, and the characteristics of figure pixels.

关键词： Cameras Deformable models Biological system modeling Layout Humans Motion analysis computer vision Dynamic programming Leg Legged locomotion

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The automatic detection and visual tracking of moving objects by eye-in-hand robotic systems

The automatic detection and visual tracking of moving object...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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

Traditionally, the robotic visual servoing/tracking problem has received attention from researchers for its interesting control and computer vision issues. However many visual servoing tasks also require the ability to automatically detect moving objects. Until recently, very few efforts have been reported in the area of automatic detection of servoing targets. This paper presents a robust detection scheme for use in robotic visual servoing experiments. It detects and tracks moving objects through the use of a "figure/ground" approach. Experimentation has shown the feasibility of this approach under general conditions. This paper provides a description of the authors system implementation in an experimental robotic system, along with a collection of results. The paper also contains a discussion of problems and issues for future work.

关键词： Object detection robotics and automation Visual servoing Robot vision systems Intelligent robots Robot sensing systems Target tracking Automatic control Feedback loop Adaptive control

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A system for automatically detecting and tracking objects using a visually-guided manipulator

A system for automatically detecting and tracking objects us...

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IEEE International Conference on Systems, Man and Cybernetics

作者： C.A. Richards N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Department of Computer Science University of Stanford Stanford CA USA

This paper presents a framework for the automatic visual detection of moving objects in robotic servoing tasks. The paper describes a "figure/ground" scheme which is able to perform detection without making many assumptions that would limit the generality of the approach. We describe optimizations which allow for real-time execution of the frame-differencing that is the basis of our framework. Experimentation has demonstrated that the results of the visual detection can provide information helpful in focusing attention on a specific subset of objects. Furthermore, we show how the detection technique can be integrated with existing methods for visual tracking. We mention some details that have been addressed in order to apply these theories to an actual robotic system, including the use of an optimal controller Our paper explains how this framework has been implemented in our experimental robotic system MRVT, and it describes several results obtained from this experimentation.

关键词： Object detection Pixel robotics and automation Manipulators Intelligent robots Robot vision systems computer science Visual servoing Optical computing artificial intelligence

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Integration of Research Tasks for Modeling Discoveries in Particle Physics

Integration of Research Tasks for Modeling Discoveries in Pa...

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1995 AAAI Spring Symposium

作者： Kocabas, Sakir Langley, Pat Department of Artificial Intelligence Tubitak - MRC PK 21 Gebze Turkey Institute for the Study of Learning and Expertise 2164 Staunton Court Palo AltoCA94306 United States ITU Faculty of Space Sciences and Technology Istanbul Turkey The Robotics Laboratory Computer Science Department Stanford University StanfordCA94305 United States

This paper describes BR-4, a discovery system that integrates several research tasks in modeling the discovery of certain quantum properties and conservation laws by physicists in this century. The program is directed by consistency and completeness constraints, and it has the ability to formulate and revise theories in its domain and to explain its knowledge state using these constraints. BR-4 is able to formulate new elementary particles and particle reactions and to propose observations to test their existence. The program revises its theory when it detects formal and theoretical contradictions, and when its domain theory conflicts with observational data. copyright © 1995, AAAI (***). All rights reserved.

关键词： Formal logic

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Using vision-based control techniques for grasping objects

Using vision-based control techniques for grasping objects

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IEEE International Conference on Systems, Man and Cybernetics

作者： C.E. Smith N.P. Papanikolopoulous Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US Dept. of Comput. Sci. Minnesota Univ. Minneapolis MN USA

We present additions to the controlled active vision framework that focus upon the autonomous grasping of a moving object in the manipulator's workspace. Our work extends the capabilities of an eye-in-hand robotic system beyond those as a "pointer" or a "camera orienter" to provide the flexibility required to robustly interact with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota Robotic Visual Tracker (MRVT) to automatically select object features, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in the grasping of a moving object. The system grasps objects in the manipulator's workspace without requiring the object to follow a specific trajectory and without requiring the object to maintain a specific orientation.

关键词： Robot vision systems Manipulators robotics and automation Cameras Grippers Robustness Uncertainty Automatic control Optical distortion artificial intelligence

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SIMULATION AND ANIMATION OF SENSOR-DRIVEN ROBOTS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1994年第5期10卷 684-704页

作者： CHEN, CX TRIVEDI, MM BIDLACK, CR Computer Vision and Robotics Research Laboratory the Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

关键词： Animation Robot sensing systems robotics and automation Visualization Robot programming Software safety Computational modeling computer simulation Automatic programming Software systems

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Multiagent fault‐diagnosis expert system in power systems

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European Transactions on Electrical Power 1995年第5期5卷 341-347页

作者： Wang, J.P. Trécat, J. Dr. Jianping Wang is a doctor fellow in the Faculte Polytechnique de Mons in Belgium. His current research field is parallel processing applications in power systems. Dr. Wang obtained his BS degree from Southwest Jiaotong University in P.R. Chinain 1982. From 1982 to 1990 he was appointed as an assistant lecturer. lecturer and associate professor respectively in the electrical engineering department of Southwest Jiaotong University. He obtained his Ph.D in the FacultC Polytechnique de Mons in July of 1993. (BD Dolez 3 1 FPMS B-7000 Mons Belgium T +32-65/37 41 87 Fax +32-65/37 43 00) Professor J. Trécat is a director in the power system laboratory in the Faculty Polytechnique de Mons. He obtained his Ph.D in the University of Manchester Institute of Science and Technology(UM1ST) in U.K. in 1970. He has been working in the fields of power system automation artificial intelligence application and computer vision in the Facult6 Polytechnique de Mons since 1970. He is a senior member of IEEE and he has made much contribution both in electrical engineering education and research. (BD Dolez 3 I FPMS B-7000 Mons T +32-651374185. Fax +32-6513743 00)

In order to solve the speed problem and shallow reasoning problem met in current research in fault diagnosis expert system, this paper presents a model based parallel fault diagnosis expert system for energy management systems (EMS). The Petri net model, which corresponds to the relationship between power system components and their protection systems, has been used for the inference in fault diagnosis. A multiagent parallel processing expert system, which is based on five transputers in Sun workstation, has been built for fault diagnosis purposes. The test results show that this expert system is not only fast but also has better performances. Copyright © 1995 John Wiley & Sons, Ltd.

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Off-line recognition of signatures using revolving active deformable models

Off-line recognition of signatures using revolving active de...

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IEEE International Conference on Systems, Man and Cybernetics

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

This paper presents a novel approach to the problem of signature recognition. We introduce the use of revolving active deformable models as a powerful way of capturing the unique characteristics of a signature's silhouette. Experimental evidence shows that the silhouette of a signature uniquely determines the signature in the majority of cases. The objective of our method is to recognize signatures based on the spatial properties of the signature boundaries. Our active deformable models originate from the snakes introduced to computer vision by Kass et al. (1987), but their implementation has been tailored to the task at hand. These computer-generated models interact with the virtual gravity field created by the image gradient. Ideally, the uniqueness of this interaction mirrors the uniqueness of the signature's silhouette. The proposed method obviates the use of a computationally expensive segmentation approach and yields satisfactory results regarding performance, without compromising the accuracy rate. Interestingly, the active deformable models have been implemented in such a way, that the method is potentially fully parallelizable. The experiments performed with a signature database show that the proposed method is promising.< >

关键词： Deformable models Databases Character recognition Handwriting recognition artificial intelligence Intelligent robots Robot vision systems Laboratories computer science computer vision

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Computation of shape through controlled active exploration

Computation of shape through controlled active exploration

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IEEE International Conference on robotics and Automation (ICRA)

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

Accurate knowledge of depth continues to be of critical importance in robotic systems. Without accurate depth knowledge, tasks such as inspection, tracking, grasping, and collision-free motion planning prove to be difficult and often unattainable. Traditional visual depth recovery has relied upon techniques that require the solution of the correspondence problem or require known lighting conditions and Lambertian surfaces. In this paper, we present a technique for the derivation of depth from feature points on a target's surface using the controlled active vision framework. We use a single visual sensor mounted on the end-effector of a robotic manipulator to automatically select feature points and to derive depth estimates for those features using adaptive control techniques. Movements of the manipulator produce displacements that are measured using a sum-of-squared difference (SSD) optical flow. The measured displacements are fed into the controller to alter the path of the manipulator and to refine the depth estimate.< >

关键词： Shape control Manipulators Automatic control Displacement measurement Inspection Tracking Motion planning Sensor phenomena and characterization Robot sensing systems robotics and automation

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The Minnesota robotic visual tracker: a flexible testbed for vision-guided robotic research

The Minnesota robotic visual tracker: a flexible testbed for...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S.A. Brandt C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Most early research in robotic visual tracking, especially prior to 1990, separated the vision processing and robot control aspects of the system. Attempts to solve the problem close the control loop by incorporating the output of the vision processing as an input to the control subsystem. The controlled active vision framework describes one such approach wherein dynamic target, camera, and environmental factors are incorporated via adaptive controllers that utilize the sum-of-squared differences (SSD) optical flow measurements as an input to the control loop. This paper describes work at the University of Minnesota's artificial intelligence, robotics, and vision laboratory in developing the Minnesota Robotic Visual Tracker (MRVT), a controlled active vision robotic testbed. In addition, enhancements to the basic SSD algorithm are presented that produce order-of-magnitude improvements over previously reported results.< >

关键词： Testing Robot vision systems Optical control Intelligent robots Robot control Cameras Environmental factors Programmable control Adaptive control Adaptive optics

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