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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Xingping Cao Gongzhu Hu N. Shrikhande Center for Computer Vision and Robotics Research Department of Computer Science Central Michigan University Mount Pleasant MI USA

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The geometry of visual interception

The geometry of visual interception

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Conference on computer vision and Pattern Recognition (CVPR)

作者： L. Huang Y. Aloimonos Computer Vision Laboratory Center for Automation Research University of Maryland College Park MD USA Computer Vision Laboratory Center for Automation Research Computer Science Department and Institute for Advanced Computer Studies University of Maryland College Park MD USA

Under the traditional paradigm of considering vision as a recovery problem, visual interception is just another application of the structure-from-motion module. However, the inherent difficulties of three-dimensional reconstruction have delayed any real-time applications. The authors offer a robust solution under the active qualitative vision paradigm. From the image intensity function, they obtain the locomotive intrinsics of the agent and the target. Based on this relative information, they present a control strategy that decides in real time whether the velocity of the agent should be increased or decreased at any time instant, thus guiding the agent to intercept the target. The problem of visual interception can thus be solved by simple computation without correspondence.< >

关键词： Geometry Cameras Humans computer vision Laboratories Automation computer science Educational institutions Application software Image reconstruction

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Exploratory active vision: theory

Exploratory active vision: theory

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Conference on computer vision and Pattern Recognition (CVPR)

作者： J.-Y. Herve Y. Aloimonos Computer Vision Laboratory Center for Automation Research Department of Computer Science Institute for Advanced Computer Studies University of Maryland College Park MD USA

An active approach to the integration of shape from x modules-here shape from shading and shape from texture-is proposed. The question of what constitutes a good motion for the active observer is addressed. Generally, the role of the visual system is to provide depth information to an autonomous robot; a trajectory module will then interpret it to determine a motion for the robot, which in turn will affect the visual information received. It is suggested that the motion can also be chosen so as to improve the performance of the visual system.< >

关键词： Layout Motion analysis Active shape model Cameras computer vision Robots Visual system Laboratories Automation computer science

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Edge detection models based on Gabor filters

Edge detection models based on Gabor filters

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International Conference on Pattern Recognition

作者： K.R. Namuduri R. Mehrotra N. Ranganathan Department of Computer Science and Engineering University of South Florida Tampa FL USA Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Center for Microelectronics Research University of South Florida Tampa FL USA

The performance of a Gabor odd filter-based edge detector is investigated using the measures proposed by Canny. Based on this performance analysis a design criterion for 1-D Gabor filter-based edge detector is derived. It is shown that this design criterion holds good for a 2-D Gabor filter-based edge detector as well. Experimental results are presented to demonstrate the significance of the proposed design criterion.< >

关键词： Image edge detection Gabor filters Detectors Signal to noise ratio Equations Performance analysis Frequency computer science Robots Systems engineering and theory

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The Geometry of Visual Coordination 9

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9th National Conference on Artificial Intelligence, AAAI 1991

作者： Hervé, Jean-Yves Sharma, Rajeev Cucka, Peter Computer Vision Laboratory Center for Automation Research Department of Computer Science University of Maryland College ParkMD20742 United States

ISBN: (纸本)0262510596

We present a new model for the perceptual reasoning involved in hand/eye coordination, and we show how this model can be developed into a control mechanism for a robot manipulator with a visual sensor. This new approach overcomes the high computational cost, the lack of robustness, and the need for precise calibration that plague traditional approaches. At the heart of our model is the Perceptual Kinematic Map (PKM), a direct mapping from the control space of the manipulator onto a space defined by a set of measurable image parameters. By exploring its workspace, the robot learns, qualitatively, the topology of its PKM and thus acquires the dexterity for future tasks, in a striking parallel to biological systems. © 1991, AAAI (***). All rights reserved.

关键词： Robot applications

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Medial axis representation and encoding of scanned documents

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Journal of Visual Communication and Image Representation 1991年第2期2卷 151-165页

作者： Brandt, Jonathan W. Jain, Anil K. Ralph Algazi, V. Computer Vision Research Lab CIPIC: The Center for Image Processing and Integrated Computing United States Department of Electrical Engineering and Computer Science University of California Davis CA 95616 United States

The medial axis transform (MAT) is a sparse representation of shape, which, being reversible, has potential for binary image compression. The MAT also provides structural information not accessible with alternative binary image codes. This structural information is often used for line extraction and pattern recognition. Therefore, the MAT occupies an interesting middle ground between lower-level, compressible image codes and higher-level, meaningful image representations. In an attempt to realize this middle ground, a MAT-based coding scheme which respects its structural properties is developed. The MAT-based coding method is applied to the CCITT facsimile test images. The resulting compression is comparable to that of known coding schemes for textual and somewhat better for graphical data. Some simple modifications to improve skeleton coding performance are suggested. To substantiate the claim that the MAT is effective for higher-level processing, the representation is extended to perform line segment and curve extraction. The extraction takes place under the control of a global error tolerance parameter and thus provides a new method to trade off data compression with distortion for binary images. © 1991.

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Quadric surface fitting for sparse range data

Quadric surface fitting for sparse range data

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IEEE International Conference on Systems, Man and Cybernetics

作者： X. Cao N. Shrikhande Center of Computer Vision and Robotics Research Computer Science Department Central Michigan University Mount Pleasant MI USA

The authors present a systematic comparison of three commonly used least-squares based methods that describes the relationship between noise levels, patch sizes and reliability of surface classification in computer vision. The different methods were tested on several sets of synthetic and real data. Complete sets of quadric surfaces were tested. In each case the standard deviation of the Gaussian noise ranged from 0 to 0.05. Four different patch sizes were tested in each case representing data from the entire surface, half surface, quarter surface and from a small patch of the surface. Similar tests were made for two different types of real range data, a sphere and a cylinder. Both synthetic and real data showed improvement in the results obtained by using the M-estimate method in the case of gross outlying points.< >

关键词： Surface fitting Testing Noise level computer vision Least squares methods Differential equations Robot vision systems computer science Object recognition Singular value decomposition

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On seeing spaghetti: A novel self-adjusting seven parameter hough space for analyzing flexible extruded objects

On seeing spaghetti: A novel self-adjusting seven parameter ...

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Geometric Methods in computer vision 1991

作者： Kender, John R. Kjeldsen, Rick Department of Computer Science Columbia University New YorkNY10027 United States Exploratory Computer Vision Group IBM Thomas J. Watson Research Center P.O. Box 704 Yorktown HeightsNY10598 United States

We present a model for flexible extruded objects, such as wires, tubes, or grommets, and demonstrate a novel, *** seven-dimensional Hough transform that derives and analyzes their three-space curved axes from position and surface normal information. The method is purely local and is very cheap to compute. The model considers such objects as piecewise toroidal, and decomposes the seven parameters of a torus into three nested subspaces, the structure of which counteract the errors implicit in the analysis of objects of great size and/or small curvature. We believe it is the first example of a parameter space stmcture designed to cluster ill-conditioned hypotheses together so that they can be easily detected and ignored. This work complements existing shape-from-contour approaches for analyzing tori: it uses no edge information, and it does not require the solution of high-degree non-linear equations by iterative techniques. Most of the results, including the conditions for the existence of more that one solution (phantom 'anti-tori'), have been verified using a symbolic mathematical analysis systern. We present, in the environment of the IBM ConVEx system, robust results on both synthetic CAD-CAM range data (the hasp of alock), and actual range data (a knotted piece of coaxial cable), and discuss several system tuning issues. © 1991 SPIE. All rights reserved.

关键词： Hough transforms

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Navigation in a hazardous environment with distributed shelters

Navigation in a hazardous environment with distributed shelt...

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IEEE International Conference on Systems, Man and Cybernetics

作者： R. Sharma D.M. Mount Y. Aloimonos Computer Vision Laboratory Center of Automation Research and Department of Computer Science University of Maryland College Park MD USA

The problem of efficient path planning for a point robot in a partially known dynamic environment is considered. The static known part of the environment consists of point shelters distributed in planar terrain, and the dynamic, unknown part is abstracted in the form of alarms that cause the robot to leave its current (pre-planned) path and divert to the nearest shelter. A probabilistic analysis of the expected times for the dynamic paths generated when the alarms follow a Poisson distribution with parameter lambda is given. A case study with three shelters serves to illustrate the dependence of the expected travel times on lambda for two alternate static paths. Two different strategies are presented for the general case of n shelters and shown to be superior for different ranges of values of the alarm rate lambda (very low and very high values, respectively).< >

关键词： Navigation Path planning Motion planning Robot sensing systems robotics and automation computer vision computer science Educational institutions Robot vision systems Mobile robots

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A framework for vision-guided manipulation of a moving target

A framework for vision-guided manipulation of a moving targe...

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IEEE International Conference on Systems, Man and Cybernetics

作者： R. Sharma J.-Y. Herve P. Cucka Computer Vision Laboratory Center of Automation Research and Department of Computer Science University of Maryland College Park MD USA

The authors present a general framework for reasoning about robotic manipulation tasks involving a moving target, where manipulation is loosely defined to include catching, hitting, interception, etc. This framework may be used to achieve robust vision-based control. The different levels at which visual input is involved in pursuing the dynamically defined goal are considered. A given task is first transformed into one of constrained trajectory planning on a topological space defined by a set of image parameters. A learning phase first learns the qualitative features of this perceptual control surface so that further operations may be carried out autonomously without precise calibration of different parts of the system. The framework facilitates the incorporation of learning strategies to automate the control mechanism.< >

关键词： Robot vision systems Orbital robotics Robot sensing systems Service robots computer vision robotics and automation Manipulators Computational geometry Intelligent sensors Intelligent robots

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