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Multi-robot task-allocation through vacancy chains

Multi-robot task-allocation through vacancy chains

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T.S. Dahl M.J. Mataric G.S. Sukhatme Robotics Research Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California USA

This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies. We define a class of task-allocation problems for which the vacancy chain algorithm is suitable and demonstrate how reinforcement learning can be used to make vacancy chains emerge in a group of behavior-based robots. Experiments in simulation show that the vacancy chain algorithm consistently outperforms random and static task allocation algorithms when individual robots are prone to distractions or breakdowns, or when task priorities change.

关键词： Scheduling algorithm Resource management Humans Learning Robot sensing systems Laboratories Embedded system computer science Animals Electric breakdown

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EDITORIAL

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International Journal of Pattern Recognition and Artificial Intelligence 2003年第3期17卷 331-332页

作者： SEONG-WHAN LEE ALESSANDRO VERRI Center for Artificial Vision Research Korea University Anam-dong Seongbuk-ku Seoul 136-701 Korea Department of Computer and Information Science University of Genova Via Dodecaneso 35 16146 Genova Italy

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Multiview paraperspective projection model for diminished reality 03

Multiview paraperspective projection model for diminished re...

引用

International Symposium on Mixed and Augmented Reality (ISMAR)

作者： S. Zokai J. Esteve Y. Genc N. Navab Siemens AG Corporate Research and Development Princeton NJ USA Department of Computer Science City College and Graduate Center City University of New York USA Thales Optronique SA Guyancourt France Vision and Modelling Department Siemens AG Corporate Research and Development Princeton NJ USA Vision and Modelling Department Siemens AG Corporate Research and Development USA Department of Computer Science Technical University Munich Germany

ISBN: (纸本)9780769520063

This paper introduces a "diminished reality" technique for removing an object or collection of objects and replacing it with an appropriate background image. Diminished reality can be considered an important part of many mixed and augmented reality applications. Our target application is the use of augmented reality (AR) to revamp procedures in industrial plants. An object or a region of interest is delineated on a single reference image. A paraperspective projection model is used to generate the correct background from multiple calibrated views of the scene. We propose methods to deal with approximately planar backgrounds with different orientations. We also propose a multi-resolution approach to deal with non-planar backgrounds. Different sets of experimental results demonstrate the success and limits of the algorithms. Results on real data from water treatment and power plants show the usefulness of this method for industrial applications.

关键词： Rendering (computer graphics) Augmented reality Layout Power generation computer science Pipelines Image reconstruction Industrial plants Medical services Biomedical equipment

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Performance evaluation of face recognition algorithms on the Asian face database, KFDB

引用

4th International Conference on Audio and Video-Based Biometric Person Authentication, AVBPA 2003

作者： Hwang, Bon-Woo Byun, Hyeran Roh, Myoung-Cheol Lee, Seong-Whan VirtualMedia Inc #1808 Seoul Venture Town Yeoksam-dong Kangnam-gu Seoul135-080 Korea Republic of Department of Computer Science Yonsei University Shinchon-dong Seodaemun-gu Seoul120-749 Korea Republic of Center for Artificial Vision Research Korea University Anam-dong Seongbuk-gu Seoul136-701 Korea Republic of

ISBN: (纸本)9783540403029

Human face is one of the most common and useful keys to a person’s identity. Many algorithms have been developed for automatic face recognition. And a number of commercial products have reached the market already. In general, however, many believe that the technology has yet to improve further, particularly to overcome the instability due to variable illuminations, expressions, poses and accessories. These variations often lead to large nonlinear variation in facial image. To date it is a very important issue to understand the limitation of the current face recognition technology. In this paper, we report the experimental result of face recognition performed using PCA(Principal Component Analysis), LFA(Local Feature Analysis) and correlation matching algorithms on the KFDB(Korean Face Database) which contains Korean face images taken under various conditions. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Face recognition

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Towards the ultimate motion capture technology

Towards the ultimate motion capture technology

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IFlP TC5/WG5.10 Workshop on Deformable Avatars, DEFORM 2000 -Followed by AVATARS 2000

作者： Stuart, Bradley Baker, Patrick Aloimonos, Yiannis Computer Vision Laboratory Center for Automation Research Department of Computer Science and Institute for Advanced Computer Sludies University of Maryland College Park MD 20742 United States

ISBN: (纸本)9781475749304

Recent developments in camera and computer technology have made multiple-camera systems less expensive and more usable. Using such systems, we can generate 3-D models of human activity for use in surveillance, as avatars, or for 3-D effects generation. Some approaches to model generation are voxel coloring, space carving, silhouette intersection, and the combination of multiple stereo reconstructions. Our attempt to overcome various shortcomings of the above approaches has led to the use of image derivatives and motion to determine the shape and motion of the activity in view. Direct computations of the gradient directions and the image motion normal to the gradient provide the information to generate a 3D + motion model consistent with all the image data. Data structures encode visibility information from each of the cameras surrounding the scene, allowing efficient determination of the subsets of measurements to be combined in a modified space-carving system. The main contributions of this paper are the following: the development of a system for combining multiple image gradient measurements to determine the 3-D iso-brightness direction and its consistency, a system for combining multiple normal fiow measurements to determine the motion normal to the iso-brightness direction, and a data structure based on the rays passing through the centers of projection and the image pixels, forming an unbounded projective grid through the space of the scene and allowing efficient determination and updating of scene point visibility. Reconstructions of human motion using twenty cameras are presented. The resulting 3D dynamic models ofhuman action can be used: Ca) directly as avatars performing specific activities, (b) for creating large libraries of human action models that can be used for animation, and Cc) for further statisticallgeometric processing that will yield sophisticated models of generic action. © 2001 by Springer science+Business Media New York.

关键词： Visibility

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Geometry of eye design: Biology and technology 10th

Geometry of eye design: Biology and technology

引用

10th International Workshop on Theoretical Foundations of computer vision, 2000

作者： Fermüller, Cornelia Aloimonos, Yiannis Computer Vision Laboratory Center for Automation Research Institute for Advanced Computer Studies and the Department of Computer Science University of Maryland College ParkMD20742-3275 United States

ISBN: (纸本)354042122X

Natural or artificial vision systems process the images that they collect with their eyes or cameras in order to derive information for performing tasks related to navigation and recognition. Since the way images are acquired determines how difficult it is to perform a visual task, and since systems have to cope with limited resources, the eyes used by a specific system should be designed to optimize subsequent image processing as it relates to particular tasks. Different ways of sampling light, i.e., different eyes, may be less or more powerful with respect to particular competences. This seems intuitively evident in view of the variety of eye designs in the biological world. It is shown here that a spherical eye (an eye or system of eyes providing panoramic vision) is superior to a camera-type eye (an eye with restricted field of view) as regards the competence of three-dimensional motion estimation. This result is de- rived from a statistical analysis of all the possible computational models that can be used for estimating 3D motion from an image sequence. The findings explain biological design in a mathematical manner, by showing that systems that fly and thus need good estimates of 3D motion gain ad- vantages from panoramic vision. Also, insights obtained from this study point to new ways of constructing powerful imaging devices that suit particular tasks in robotics, visualization and virtual reality better than conventional cameras, thus leading to a new camera technology. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Cameras

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Robust facial feature point detection under nonlinear illuminations

Robust facial feature point detection under nonlinear illumi...

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IEEE ICCV Workshop on Recognition, Analysis, and Tracking of Faces and Gestures in Real-Time Systems, RATFG 2001

作者： Lai, Jianhuang Yuen, Pong C. Chen, Wensheng Lao, Shihong Kawade, Masato Department of Computer Science Hong Kong Baptist University Hong Kong Center of Computer Vision Zhongshan University China Information Technology Research Center Omron Corporation Japan

ISBN: (纸本)0769510744

This paper addresses the problem offacialfeature point detection under d(fferent lighting conditions. Our goal is to develop an efficient detection algorithm, which is suitable for practical applications. The problems that we need to overcome include (1) high detection accuracy, (2) low computational time and (3) nonlinear illumination. An algorithm is developed and reported in this paper. One of the key factors affecting the performance of feature point detection is the accuracy in locating face boundary. To solve this problem, we propose to make use of skin color, lip color and also the face boundary information. The basic idea to overcome the nonlinear illumination is that, each person shares the same/similar facial primitives, such as two eyes, one nose and one mouth. So the binary images of each person should be similar. Again, f a binary image (with appropriate thresholding) is obtained from the gray scale image, the facial feature points can also be detected easily. To achieve this, we propose to use the integral optical density (IOD) on face region. We propose to use of the average IOD to detect feature windows. As all the above-mentioned techniques are simple and efficient, the proposed method is computational effective and suitable for practical applications. 743 images from Omron database with dfferent facial expressions, different glasses and different hairstyle captured indoor and outdoor have been used to evaluate the proposed method and the detection accuracy is around 86%.. The computational time in Pentium III 750MHz using matlab for implementation is less than 7 seconds. © 2001 IEEE.

关键词： Binary images

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Robust facial feature point detection under nonlinear illuminations

Robust facial feature point detection under nonlinear illumi...

引用

International Workshop on Recognition, Analysis, and Tracking of Faces and Gestures in Real-Time Systems

作者： Jian Huang Lai P.C. Yuen Wen Sheng Chen S. Lao M. Kawade Center of Computer Vision Zhongshan University China Department of Computer Science Hong Kong Baptist University Hong Kong China Information Technology Research Center Omron Corporation Japan

ISBN: (纸本)0769510744

Addresses the problem of facial feature point detection under different lighting conditions. Our goal is to develop an efficient detection algorithm, which is suitable for practical applications. The problems that we need to overcome include (1) high detection accuracy, (2) low computational time and (3) nonlinear illumination. An algorithm is developed and reported in the paper. One of the key factors affecting the performance of feature point detection is the accuracy in locating face boundary. To solve this problem, we propose to make use of skin color, lip color and also the face boundary information. The basic idea to overcome the nonlinear illumination is that, each person shares the same/similar facial primitives, such as two eyes, one nose and one mouth. So the binary images of each person should be similar. Again, if a binary image (with appropriate thresholding) is obtained from the gray scale image, the facial feature points can also be detection easily. To achieve this, we propose to use the integral optical density (IOD) on face region. We propose to use the average IOD to detect feature windows. As all the above-mentioned techniques are simple and efficient, the proposed method is computationally effective and suitable for practical applications. 743 images from the Omron database with different facial expressions, different glasses and different hairstyle captured indoor and outdoor have been used to evaluate the proposed method and the detection accuracy is around 86%. The computational time in Pentium III 750 MHz using matlab for implementation is less than 7 seconds.

关键词： Robustness Facial features Face detection Lighting computer vision Detection algorithms Skin Eyes Nose Mouth

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Ray carving with gradients and motion

Ray carving with gradients and motion

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Workshop on Human Motion

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

Recent developments in camera and computer technology have made multiple-camera systems less expensive and more usable. Using such systems, we can generate 3D models of human activity for use in surveillance, as avatars, or for 3D effects generation. Some approaches to model generation are voxel coloring, space carving, silhouette intersection, and the combination of multiple stereo reconstructions. Our attempt to overcome various shortcomings of the above approaches has led to the use of image derivatives and motion to determine the shape and motion of the activity in view. Direct computations of the gradient directions and the image motion normal to the gradient provide the information to generate a 3D+motion model that is consistent with all the image data. Data structures encode visibility information from each of the cameras surrounding the scene, allowing efficient determination of the subsets of measurements to be combined in a modified space-carving system. The main contributions of this paper are: the development of a system for combining multiple image gradient measurements to determine the 3D iso-brightness direction and its consistency, a system for combining multiple normal flow measurements to determine the motion normal to the iso-brightness direction, and a data structure based on the rays passing through the centers of projection and the image pixels, forming an unbounded projective grid through the space of the scene and allowing efficient determination and updating of scene point visibility. Reconstructions of human motion using 20 cameras are presented.

关键词： Cameras Layout Space technology Humans Image reconstruction Data structures Fluid flow measurement Motion measurement Surveillance Avatars

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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