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3D free-form surface registration and object recognition

INTERNATIONAL JOURNAL OF computer VISION 1996年第1期17卷 77-99页

作者： Chua, CS Jarvis, R Intelligent Robotics Research Center Department of Electrical and Computer Systems Engineering Monash University Wellington Road 3168 Clayton Vic Australia

A new technique to recognise 3D free-form objects via registration is proposed. This technique attempts to register a free-form surface, represented by a set of 2 1/2D sensed data points, to the model surface, represented by another set of 2 1/2D model data points, without prior knowledge of correspondence or vie;tv points between the two point sets. With an initial assumption that the sensed surface be part of a more complete model surface, the algorithm begins by selecting three dispersed, reliable points on the sensed surface. To find the three corresponding model points, the method uses the principal curvatures and the Darboux frames to restrict the search over the model space. Invariably, many possible model 3-tuples will be found. For each hypothesized model 3-tuple, the transformation to match the sensed 3-tuple to the model 3 tuple can be determined. A heuristic search is proposed to single out the optimal transformation in low order time. For realistic object recognition or registration, where the two range images are often extracted from different view points of the model, the earlier assumption that the sensed surface be part of a more complete model surface cannot be relied on. With this, the sensed 3-tuple must be chosen such that the three sensed points lie on the common region visible to both the sensed and model views. We propose an algorithm to select a minimal non-redundant set of 3-tuples such that at least one of the S-tuples will lie on the overlap. Applying the previous algorithm to each 3-tuple within this set, the optimal transformation can be determined. Experiments using data obtained from a range finder have indicated fast registration for relatively complex test cases. If the optimal registrations between the sensed data (candidate) and each of a set of model data are found, then, for 3D object recognition purposes, the minimal best fit error can be used as the decision rule.

关键词： computer vision

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Pattern analysis for autonomous vehicles with the region- and feature-based neural network: global self-localization and traffic sign recognition

Pattern analysis for autonomous vehicles with the region- an...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Janet M.W. White T.A. Chase R.C. Luo J.C. Sutton Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Autonomous vehicles require that all processes be efficient in time, complexity and data storage. In fact, an ideal system employs multifunctional models where ever possible. This paper presents the region- and feature-based neural network (RFNN) as a viable pattern analysis process engine for solving a variety of problems with a single math model. The RFNN employs receptive fields and weight sharing which compensate for noise, minor phase shifts and occlusions. The RFNN also utilizes greedy adaptive learning rates and mature feature preservation to expedite the overall training process. A novel ad hoc approach called "shocking" is used to solve the instability problem inherent to greedy adaptive learning rates. The basic RFNN "feature" is grounded in computer vision morphology in that the neural network autonomously learns subpatterns unique to various problems. This paper comprehensively describes the flexible RFNN architecture and training process and presents two problems that can be solved by the RFNN: sensor pattern-recognition and traffic sign recognition.

关键词： Pattern analysis Remotely operated vehicles Mobile robots Neural networks Memory Engines Phase noise computer vision Morphology computer architecture

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Position estimation of selected targets

Position estimation of selected targets

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. LeGrand R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Recovering depth and 3D position using known camera motion is useful for solving many problems in robotics such as object manipulation, navigation, and localization. Most existing techniques attempt to solve the general problem by recovering depth across the entire image. They oftentimes make linear dynamics assumptions or use poorly recoverable metrics such as optical flow. An estimation technique is presented that retains the nonlinear camera dynamics and provides an accurate 3D position estimate of selected targets within the environment. In practice, the technique is accurate enough to fully specify the placement of a gripper for object manipulation after forward (as opposed to lateral) movement of a single camera. The technique also provides probabilistic information regarding the estimate, which can be used to make intelligent, informed decisions. We employed this technique at the 1995 AAAI robot competition where our robot, Lola, placed 1st in Office Clean-up where it was able to pick up trash and recyclables and deposit them in the appropriate receptacles with great success. Results of our implementation on Lola are also presented.

关键词： intelligent robots Orbital robotics Data mining Image motion analysis Cameras Machine intelligence Navigation Tires Nonlinear optics Grippers

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An explicit path planner to facilitate reactive control and terrain preferences

An explicit path planner to facilitate reactive control and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.R. Murphy K. Hughes E. Noll Center for Robotics and Intelligent Systems Colorado Schml of Mines Golden CO USA Electrical and Computer Engineering University of the Pacific Stockton Stockton CA USA Mathematical Sciences Department La Salle University Philadelphia PA USA

This paper presents a new approach to reactive control utilizing the output of an explicit path planner which considers terrain preferences. To demonstrate the concept, a wavefront propagation, type of planner algorithm, Trulla, is integrated into a reactive framework and used as part of the overall architecture. Terrain preferences are represented as weights or costs which are considered in generating a near optimal path. The algorithm is demonstrated on the CSM Denning-Branch MRV4 mobile robot for three scenarios: navigation out of a box canyon, planning with terrain preferences, and opportunistic path improvement.

关键词： Path planning Mobile robots Costs intelligent robots Satellite navigation systems Control systems intelligent systems Systems engineering and theory Hybrid power systems Robot control

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Topological method for loop detection of surface intersection problems

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computer-AIDED DESIGN 1995年第11期27卷 811-820页

作者： Ma, YW Luo, RC [a] Ericsson Inc 1 Triangle Drive RTP NC 27709 USA [b] Center for Robotics Intelligent Machines Department of Electrical Computer Engineering North Carolina State University Raleigh NC 27695-7911 USA

One method of detecting closed loops in surface intersections requires the computation of collinear normal vectors. Such collinear normal vectors form a subset of critical points of the plane vector field defined by the gradient of an oriented distance function from one surface to the other. The Poincare index theorem detects the existence of a critical point in a region of the vector field, but fails when two critical points having different signs of the index are in the same region. This paper presents a method for a conclusive test by extending the Poincare index theorem to three-dimensional vector fields. The idea of solid angle is introduced to compute the rotation of vector fields in three dimensions. The Poincare index gives the total number of critical points enclosed by a three-dimensional boundary.

关键词： loop detection 3D vector fields critical points

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A flexible capacitive normal/shear tactile force sensor 25

A flexible capacitive normal/shear tactile force sensor

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25th European Solid State Device Research Conference, ESSDERC 1995

作者： Chase, Troy A. Luo, Ren C. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)286332182X

A flexible capacitive normal/shear force sensor design is presented. Fabrication on a flexible polyimide substrate allows the sensor to be molded to non-planar gripper surfaces. The ability to measure normal and shear forces will greatly advance the tactile sensing capabilities of articulated grippers. The structure of the sensor also provides the ability to integrate additional sensors into a tactile sensing system. Integration of senors to measure temperature, humidity, and hardness would provide more complete tactile information. Articulated robotic grippers require complete tactile data to facilitate the ability to sense by touch. The ability to reliably perform grasp control and object recognition is directly linked to the tacitle sensing capabilities of the gripper. © 1995 Editions Frontieres.

关键词： Grippers

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Global self-localization for autonomous mobile robots using region- and feature-based neural networks

Global self-localization for autonomous mobile robots using ...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R. Gutierrez-Osuna T.A. Chase M. White R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

This paper presents an approach to global self-localization for autonomous mobile robots using a region- and feature-based neural network. This approach categorizes discrete regions of space using mapped sonar data corrupted by noise of varied sources and ranges. The authors' approach is like optical character recognition (OCR) in that the mapped sonar data assumes the form of a character unique to that room. Hence, it is believed that an autonomous vehicle can determine which room it is in from sensory data gathered while exploring that room. With the help of receptive fields, some pre-processing, and a robust exploration routine, the solution becomes time-, translation- and rotation-invariant. The classification rate of this approach is comparable to the Kohonen based approach. Some pros and cons of both approaches are discussed.

关键词： Mobile robots Neural networks Sonar Optical noise Optical character recognition software Optical computing Optical sensors Character recognition Remotely operated vehicles Robustness

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A thin-film flexible capacitive tactile normal/shear force array sensor

A thin-film flexible capacitive tactile normal/shear force a...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.A. Chase R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A flexible capacitive normal/shear force sensor design is presented. Fabrication on a flexible polyimide substrate allows the sensor to be molded to nonplanar gripper surfaces. The ability to measure normal and shear forces will greatly advance the tactile sensing capabilities of articulated grippers. The structure of the sensor also provides the ability to integrate additional sensors into a tactile sensing system. Integration of sensors to measure temperature, humidity, and hardness would provide more complete tactile information. Articulated robotic grippers require complete tactile data to facilitate the ability to sense by touch. The ability to reliably perform grasp control and object recognition is directly linked to the tactile sensing capabilities of the gripper.

关键词： Transistors Grippers Tactile sensors Force sensors Sensor systems Temperature sensors Temperature measurement Fabrication Polyimides Substrates

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Custom shoe last fabrication through CNC milling

Custom shoe last fabrication through CNC milling

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.A. Chase J. Cleary R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The prescription of custom shoes by a physician can facilitate the healing of foot related problems. Manufacturing custom shoe lasts is very expensive and time consuming, however. A high degree of skill is also required to make the shoe lasts. The current process is very labor intensive and slow. An automated process developed at the center for robotics and intelligent machines (CRIM) fabricates custom shoe lasts inexpensively, accurately, and quickly. This process consists of a laser foot scanner, an integrated graphical modification system and a CNC milling machine. The reduction in fabrication time and cost allows a larger number of patients to benefit from the use of custom shoes.

关键词： Footwear Fabrication computer numerical control Milling Foot intelligent robots Manufacturing robotics and automation Machine intelligence Metalworking machines

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The essential visibility graph: an approach to global motion planning for autonomous mobile robots

The essential visibility graph: an approach to global motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

An approach to global motion planning for autonomous mobile robots has been developed on the basis of traversability vectors (t-vectors). Through the overall course of this research it was found that t-vectors provide a utility, efficiency and mathematical stability for collision detection and visibility that cannot be matched by commonly used algebraic approaches in static and dynamic environments. This paper will show that t-vectors also impact global motion planning by identifying redundancies in visibility graphs (V-graphs) and expediting their construction. The result of eliminating redundant path segments is a streamlined version of the V-graph called the essential visibility graph (EVG). This paper will also show that the EVG offers a significant reduction in data storage requirements and complexity.

关键词： Motion planning Mobile robots Memory intelligent robots Routing Robot sensing systems Machine intelligence Stability Aerodynamics Trajectory

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