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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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

The complexity and congestion of current transportation systems often produce traffic situations that jeopardize the safety of the people involved. These situations vary from maintaining a safe distance behind a leading vehicle to safely allowing a pedestrian to cross a busy street. Environmental sensing plays a critical role in virtually all of these situations. Of the sensors available, vision sensors provide information that is richer and more complete than other sensors, making them a logical choice for a multisensor transportation system. In this paper we present robust techniques for intelligent vehicle and highway applications where computer vision plays a crucial role. In particular, we demonstrate that the controlled active vision framework can be utilized to provide a visual sensing modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations. We have selected two application examples, vehicle tracking and pedestrian tracking, to demonstrate that the framework can provide precisely the type of information required to effectively manage the given situation.< >

关键词： Intelligent vehicles Road transportation Radar tracking Sensor systems Vehicle safety Intelligent sensors Robustness Laser radar Vehicle detection computer vision

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Robotic exploration under the controlled active vision framework

Robotic exploration under the controlled active vision frame...

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IEEE Conference on Decision and Control

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

We present robust techniques for the derivation of depth from feature points on a target surface and for the accurate and high-speed tracking of moving targets. We use these techniques in a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the controlled active vision framework and robustly determines parameters such as velocity for tracking moving objects and depth maps of objects with unknown depths and surface structure. Such determination of extrinsic environmental parameters is essential for performing higher level tasks such as inspection, exploration, tracking, grasping, and collision-free motion planning. For both applications, we use the Minnesota Robotic Visual Tracker (a visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system) to automatically select feature points on surfaces, to derive an estimate of the environmental parameter in question, and to supply a control vector based upon these estimates to guide the manipulator.< >

关键词： Robot vision systems Target tracking Control systems Robot sensing systems robotics and automation Manipulators Robustness Velocity control Robust control Surface structures

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Application of the controlled active vision framework to robotic and transportation problems

Application of the controlled active vision framework to rob...

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IEEE Workshop on Applications of computer vision (WACV)

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

Flexible operation of a robotic agent in an uncalibrated environment requires the ability to recover unknown or partially known parameters of the workspace through sensing. Of the sensors available to a robotic agent, visual sensors provide information that is richer and more complete than other sensors. In this paper we present robust techniques for the derivation of depth from feature points on a target's surface and for the accurate and high-speed tracking of moving targets. We use these techniques in a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the controlled active vision framework and robustly determines parameters such as velocity for tracking moving objects and depth maps of objects with unknown depths and surface structure. Such determination of intrinsic environmental parameters is essential for performing higher level tasks such as inspection, exploration, tracking grasping, and collision-free motion planning. For both applications, we use the Minnesota Robotic Visual Tracker (a single visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system) to automatically select feature points on surfaces, to derive an estimate of the environmental parameter in question, and to apply a control vector based upon these estimates to guide the manipulator. The paper concludes with applications of these techniques to transportation problems such as vehicle tracking.< >

关键词： Robot vision systems Robot sensing systems Target tracking Control systems robotics and automation Manipulators Robustness Velocity control Robust control Surface structures

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WAVELET ARRAY DECOMPOSITION OF IMAGES USING A HERMITE SIEVE

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SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING scienceS 1993年第2期18卷 301-&页

作者： VENKATESH, YV RAMANI, K NANDINI, R Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

Generalized Hermite Polynomials are used in a novel way to arrive at a multi-layered representation of images. This representation, which is centred on the creation of a new class of wavelet arrays, is (i) distinct from what we find in the current literature, (ii) stable, and (iii) in the manner of standard transforms, transforms the image, explicitly, into matrices of coefficients, reminiscent of Fourier series, but at various scales, controlled by a scale parameter. Among the other properties of the wavelet arrays, (a) the shape of the resolution cell in the 'phase-space' is variable even at a specified scale, depending on the nature of the signal under consideration;and (b) a systematic procedure is given for extracting the zero-crossings from the coefficients at various scales. This representation has been successfully applied to both synthetic and natural images, including textures.

关键词： IMAGE REPRESENTATION WAVELET TRANSFORM MULTIRESOLUTION GENERALIZED HERMITE POLYNOMIALS SCALE SPACE SIGNAL DECOMPOSITION WINDOWED FOURIER TRANSFORM FOURIER SERIES ZERO-CROSSINGS

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Effect of genetic sectoring on vehicle routing problems with time windows

Effect of genetic sectoring on vehicle routing problems with...

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1993 IEEE International Conference on Developing and Managing Intelligent System Projects, DMISP 1993

作者： Thangiah, S.R. Gubbi, A.V. Applied Artificial Intelligence and Robotics Laboratory Computer Science Department Slippery Rock University Slippery RockPA16057 United States

ISBN: (纸本)0818637307

In vehicle routing problems with time windows (VRPTW), a set of vehicles with limited capacity and travel time, are to routed from a central depot to a set of geographically dispersed customers with known demands within specified time windows. The VRSPTW is an NP-hard problem. That is, the time taken to solve it optimally increases exponentially with respect to the size of the problem. Genetic sectoring is a partitioning method that uses a genetic algorithm to find feasible solutions for the VRPTW. The genetic sectoring method was tested on a standard set of VRPTW problems. The solutions obtained using genetic sectoring gave better solutions than known conventional methods. The authors carry out a statistical analysis of the solutions obtained using genetic sectoring, to ascertain the kind of problems in which it would be advantageous to use the genetic sectoring method. © 1993 IEEE.

关键词： Travel time

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Effect of genetic sectoring on vehicle routing problems with time windows

Effect of genetic sectoring on vehicle routing problems with...

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IEEE International Conference on Developing and Managing Intelligent System Projects

作者： S.R. Thangiah A.V. Gubbi Applied Artificial Intelligence and Robotics Laboratory Computer Science Department Slippery Rock University Slippery Rock PA USA

关键词： Routing Biological cells Genetic algorithms Intelligent vehicles Job shop scheduling artificial intelligence Intelligent robots Laboratories computer science Dispersion

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Assembly sequencing for arbitrary motions

Assembly sequencing for arbitrary motions

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Lozano-Perez R.H. Wilson MIT Artificial Intelligence Laboratory Cambridge MA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA

Considers the following problem that arises in assembly planning: given an assembly, identify a subassembly that can be removed without disturbing the rest of the assembly. Solutions of this problem have been presented when the motions allowed for the separation are of certain restricted types. These solutions are generalized to allow arbitrary relative motions between the two subassemblies. The generalization is based on a configuration space construction that makes explicit the spatial interferences between every pair of parts for every relative motion. Based on this construction, it is possible to simultaneously determine the path by which a subassembly can be removed and the parts contained in the subassembly. While the algorithms resulting from this construction may in the worst case require time exponential in the length of the removal path, the expected complexity for realistic assemblies is an open question.< >

关键词： Robotic assembly Laboratories Fasteners artificial intelligence H infinity control computer science Interference elimination Space stations

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On an optimal learning scheme for bidirectional associative memories

On an optimal learning scheme for bidirectional associative ...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Shanmukh Y.V. Venkatesh Comput. Vision & Artificial Intelligence Lab. Inst. of Sci. Bangalore India Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

An optimal learning scheme is proposed for a class of bidirectional associative memories (BAMs). This scheme, based on the perceptron learning algorithm, is motivated by the inadequacies/incompleteness of the weighted learning by global optimization, as derived by Wang et al. (1993). It is shown that the new scheme has superior properties: (1) Convergence to the correct solution, when it exists; and (2) A larger basin of attraction for the given set of patterns.

关键词： Neurons Neural networks Neurofeedback Learning Convergence Pattern recognition computer vision artificial intelligence Laboratories artificial neural networks

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Algorithms for the Vehicle Routing Problems with time Deadlines

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American Journal of Mathematical and Management sciences 1993年第3-4期13卷 323-355页

作者： Thangiah, Sam R. Osman, Ibrahim H. Vinayagamoorthy, Rajini Sun, Tong Artificial Intelligence Robotics Laboratory Computer Science Department Slippery Rock University Slippery Rock 16057 PA United States Institute of Mathematics and Statistics University of Kent Kent Canterbury CT2 7NF United Kingdom

The vehicle routing problem with time deadlines (VRPTD) is an extension of the classical vehicle routing problem (VRP) withconstraints on the latest allowable time (deadline) for servicing each customer. The objective is to minimize the number of vehicles and the distance travelled without exceeding the capacity of the vehicles or violating the customer deadlines. VRPTD belongs to the class of NP-complete problems. As the computational time taken to solve such problems using exact methods is prohibitive, heuristic methods are used instead to obtain near optimal solutions for large-size problems. We develop three heuristics to solve the RPTD: deadline sweep, push-forward insertion and genetic sectoring. The solutions obtained by these heuristics are improved using a local post-optimization procedure. Computational analysis of the three heuristics are reported on 25 problems consisting of 200 customers each with different geographical and temporal characteristics. © 1993 by American sciences Press, Inc.

关键词： Genetic algorithms Time deadlines Vehicle routing

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HERMITE-POLYNOMIALS FOR SIGNAL RECONSTRUCTION FROM ZERO-CROSSINGS .1. ONE-DIMENSIONAL SIGNALS

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IEE PROCEEDINGS-I COMMUNICATIONS SPEECH AND vision 1992年第6期139卷 587-596页

作者： VENKATESH, YV Department of Electrical Engineering Computer Vision and Artificial Intelligence Laboratory Indian Institute of Science Bangalore India

Generalised Hermite polynomials are employed for the reconstruction of an unknown signal from a knowledge of its zero-crossings, under certain conditions on its spatial/spectral width, but dispensing with the assumption of bandlimitedness. A computational implementation of the proposed method is given for one-variable (or one-dimensional) signals, featuring an application of simulated annealing for optimal reconstruction.

关键词： HERMITE POLYNOMIALS SIGNAL RECONSTRUCTION SIMULATED ANNEALING

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