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Pacific-Rim Symposium on Image and Video Technology (PSIVT)

作者： Unsang Park Charles A. Otto Sharath Pankanti Department of Computer Science and Engineering Michigan State University East Lansing MI USA IBM T. J. Watson Research Center Exploratory Computer Vision Group Hawthorne NY USA

Shopping carts have traditionally been used as a tool provided to the customers in retail stores to carry items from the shelf to checkout stations. These days shopping carts can also be used as a security checkpoint to prevent store losses. All the items collected in a shopping cart are supposed to be unloaded at the checkout station to be scanned and included in the bill. Any items left in the cart intentionally or by accident will not be charged and therefore cause a loss to the store. We propose a system that automatically detects shopping carts and verify their emptiness at the checkout station. We use motion segmentation, line detection, and template matching methods for the cart detection and emptiness verification. An inter-frame edge difference, cart's path accumulator, and a finite state model are introduced for accurate cart detection. All detected carts are compared with empty cart models and the dissimilarity scores are calculated to verify the emptiness. The proposed system was evaluated on a long video clip (~12 hours) and showed promising results both in cart detection and emptiness verification.

关键词： Image edge detection computer vision Image color analysis Cameras Pixel Accuracy Motion segmentation

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Fast and robust object segmentation with the Integral Linear Classifier

Fast and robust object segmentation with the Integral Linear...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： David Aldavert Ramon Lopez de Mantaras Arnau Ramisa Ricardo Toledo Computer Vision Center Department Computer Science University Autònoma de Barcelona Spain Artificial Intelligence Research Institute IIIA-CSIC INRIA-Grenoble France Artificial Intelligence Research Institute IIIA-CSIC Universidad Autonoma de Barcelona Spain

We propose an efficient method, built on the popular Bag of Features approach, that obtains robust multiclass pixel-level object segmentation of an image in less than 500ms, with results comparable or better than most state of the art methods. We introduce the Integral Linear Classifier (ILC), that can readily obtain the classification score for any image sub-window with only 6 additions and 1 product by fusing the accumulation and classification steps in a single operation. In order to design a method as efficient as possible, our building blocks are carefully selected from the quickest in the state of the art. More precisely, we evaluate the performance of three popular local descriptors, that can be very efficiently computed using integral images, and two fast quantization methods: the Hierarchical K-Means, and the Extremely Randomized Forest. Finally, we explore the utility of adding spatial bins to the Bag of Features histograms and that of cascade classifiers to improve the obtained segmentation. Our method is compared to the state of the art in the difficult Graz-02 and PASCAL 2007 Segmentation Challenge datasets.

关键词： Robustness Object segmentation Histograms Pixel Image segmentation Feature extraction computer vision computer science Artificial intelligence Quantization

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Verification of sound source localization in reverberation room and its real time adaptation using visual information

Verification of sound source localization in reverberation r...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Byoung-gi Lee JongSuk Choi Daijin Kim Munsang Kim Center of Cognitive Robot Research Korea Institute of Science and Technology Seoul South Korea Department Computer Science and Engineering Pohang University of Science and Technology South Korea Center of Intelligent Robotics Korea Institute of Science and Technology Seoul South Korea

It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.

关键词： Microphones Training Reverberation Cameras Feature extraction Robot vision systems

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Sound source localization in reverberant environment using visual information

Sound source localization in reverberant environment using v...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

Recently, many researchers have carried out works on audio-video integration. It is worth exploring because service robots are supposed to interact with human beings using both visual and auditory sensors. In this paper, we propose an audio-video method for sound source localization in reverberant environment. Using visual information from a vision camera, we could train our audio localizer to distinguish a real source from fake sources and improved the performance of audio localizer in reverberant environment.

关键词： Cameras Sensors Robots Visualization Training Microphone arrays

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A Reliability Assessment Paradigm for Automated Video Tracking Systems

A Reliability Assessment Paradigm for Automated Video Tracki...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Yi Yao Andreas Koschan Mongi Abidi Department of Math and Computer Science North Carolina Central University NC USA Global Research Center General Electric NY USA Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Most existing performance evaluation methods concentrate on defining separate metrics over a wide range of conditions and generating standard benchmarking video sequences for examining the effectiveness of video tracking systems. In other words, these methods attempt to design a robustness margin or factor for the system. These methods are deterministic in which a robustness factor, for example, 2 or 3 times the expected number of subjects to track or the strength of illumination would be required in the design. This often results in over design, thus increasing costs, or under design causing failure by unanticipated factors. In order to overcome these limitations, we propose in this paper an alternative framework to analyze the physics of the failure process and, through the concept of reliability, determine the time to failure in automated video tracking systems. The benefit of our proposed framework is that we can provide a unified and statistical index to evaluate the performance of automated video tracking system for a task to be performed. At the same time, the uncertainty problem about a failure process, which may be caused by the system's complexity, imprecise measurements of the relevant physical constants and variables, or the indeterminate nature of future events, can be addressed accordingly based on our proposed framework.

关键词： Performance evaluation Reliability theory Lighting Robustness Mathematical model

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Development of alignment inspection system for ball grid array packaging

Development of alignment inspection system for ball grid arr...

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International Symposium on Optomechatronic Technologies, ISOT

作者： Hyunki Lee Jeong Yul Jeon Kwang Ill Ko Hyungsuck Cho Min Young Kim Research and Development Robot Vision Team Kohyoung Company Limited Seoul South Korea Kohyoung Company Limited Seoul South Korea Robotics Engineering Department DGIST Daegu South Korea School of Electrical Engineering and Computer Science Kyungpook National University Daegu South Korea

The ball grid array (BGA) has become one of the most popular packaging alternatives for high I/O devices in the industry with many advantages: high interconnection density and less packaging space and so on. In these days, the size of chip becomes small and the size of ball grid also becomes small, so the process of BGA alignment becomes more important and difficult. In this paper, the BGA alignment system before the oven process step is managed. The main difficult of inspecting the BGA alignment is that the substrate is always tilted due to irregular carrier size and in-line process. In this paper, to overcome this problem, tilt angle of substrate is measured by phase measuring profilometry (PMP), and then the compensated alignment offset calculation algorithm is suggested. The performance of our system is checked by a series of real experiments.

关键词： Substrates Packaging Pixel Calibration Cameras Inspection Phase measurement

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A Passivity based Stability Analysis of Disturbance Observer based Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robot

A Passivity based Stability Analysis of Disturbance Observer...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Mohammad Noorbad Alireza Mohammad Shahri Khoshnam Shojaei Behzad Tabibian Electrical Engineering Department Mechatronics and Robotics Research Laboratory Electronic Research Center Iran University of Science and Technology Tehran Iran Computer Engineering Department Iran University of Science and Technology Tehran Iran

This paper proposes a disturbance observer (DOB) algorithm to solve the trajectory tracking problem of a nonholonomic WMR in presence of external disturbances. To obtain a high performance trajectory tracking controller, a computed torque controller (CTC) is integrated into a kinematic controller by back-stepping technique. The disturbance observer as a part of the proposed controller estimates the external disturbances and cancel-out them. By decoupling the estimation errors from disturbances and its passivity property, it is demonstrated that the overall closed-loop system is asymptotically stable. Simulation results show that the performance of the CTC is significantly improved and the DOB achieves good ability of disturbance attenuation.

关键词： Computed Torque Control Disturbance Observer Nonholonomic WMR Weakly Strictly Passive

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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An embedded system for vehicle surrounding monitoring

An embedded system for vehicle surrounding monitoring

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2009 2nd Conference on Power Electronics and Intelligent Transportation System, PEITS 2009

作者： Chen, Yi-Yuan Tu, Yuan-Yao Chiu, Cheng-Hsiang Chen, Yong-Sheng Industrial Technology Research Institute Chutung City Hsinchu Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan Computer Vision Research Center National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9781424442461

In this paper, we present a low-cost driving assistant system which can provide the surrounding image of a vehicle in a bird's-eye view. By implementing a fast image stitching algorithm on an embedded platform, this system can generate the around-vehicle view in real time from four fisheye cameras mounted around the vehicle. Moreover, we also propose a dynamic boundary determination method to allow the automatic switch among image sources and to reduce the chance of missing obstacles in the overlapping area. With this bird's-eye view surrounding monitoring system, drivers can visually perceive the condition of the surrounding environment. Driving and parking can then become more easily and safely. ©2009 IEEE.

关键词： Vehicles

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Replica placement algorithm for highly available peer-to-peer storage systems

Replica placement algorithm for highly available peer-to-pee...

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1st International Conference on Advances in P2P Systems, AP2PS 2009

作者： Song, Gyuwon Kim, Suhyun Seo, Daeil Human Computer Interaction and Robotics Department University of Science and Technology Seoul Korea Republic of Imaging Media Research Center Korea Institute of Science and Technology Seoul Korea Republic of

ISBN: (纸本)9780769538310

Peer-to-peer (P2P) technology is an emerging approach to overcoming the limitations of the traditional client server architecture. However, building a highly available P2P system is quite challenging, in particular a P2P storage system. The reason is due to the fundamental nature of P2P systems: peers can join and leave at any time without any notice. Replication is one of the strategies in overcoming the unpredictable behavior of peers. A good replication algorithm should use the minimum number of replicas to provide the desired availability of data. The popular approach in the previous studies is a random placement of replicas, but it ignores the wide difference in the availability of each peer. In this paper, we develop a replica placement algorithm which exploits the availability pattern of each individual peer. By comparing our algorithm with a random placement scheme, we show that our algorithm dramatically improves the data availability with moderate overhead in terms of memory consumption and processing time in both ideal and practical conditions. © 2009 IEEE.

关键词： Availability

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