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Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Wang, Y.F. Aggarwal, J.K. Computer and Vision Research Center University of Texas at Austin AustinTX78712 United States Department of Computer Science University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9780819400383

In this paper, we introduce a new algorithm for modeling the structure of 3-D objects from multiple viewing directions using an integration of active and passive sensing. Construction of the structural description of a 3-D object is composed of two stages: (i) The surface orientation and partial structure are first inferred from a set of single views, and (ii) the visible surface structures inferred from different viewpoints are integrated to complete the description of the 3-D object. In the first stage, an active stripe coding technique is used for recovering visible surface orientation and partial structure. In the second stage, an iterative construction/refinement scheme is used which exploits both passive and active sensing for representing the object surfaces. The active sensing technique projects spatially modulated light patterns to encode the object surfaces for analysis. The visible surface orientation is inferred using a constraint satisfaction process based upon the observed orientation of the projected patterns. The visible surface structure is recovered by integrating a dense orientation map. For multiple view integration, the bounding volume description of the imaged object is first constructed using multiple occluding contours which are acquired through passive sensing. The bounding volume description is then refined using the partial surface structures inferred from active sensing. The final surface structure is recorded in a data structure where the surface contours in a set of parallel planar cross sections are stored. The system construction is inexpensive and the algorithms introduced are adaptive, versatile and suitable for applications in dynamic environments. We expect this approach to be widely applicable in the field of robotics, geometric modeling and factory automation.

关键词： Three dimensional computer graphics

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computer-assisted learning in dermatology: Two knowledge-based approaches 2nd

Computer-assisted learning in dermatology: Two knowledge-bas...

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2nd International Conference on computer Assisted Learning, ICCAL 1989

作者： Yoon, YoungOhc Reece, Glen A. Bergstresser, Paul R. Peterson, Lynn L. Department of Computer Science Engineering The University of Texas at Arlington United States Artificial Intelligence Laboratory for Manufacturing Automation and Robotics Research Institute The University of Texas at Arlington United States Department of Dermatology The University of Texas Southwestern Medical Center at Dallas United States

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Identifying metal surfaces in color images

Identifying metal surfaces in color images

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Hybrid Image and Signal Processing 1988

作者： Healey, Glenn Blanz, W.E. Robotics Laboratory Computer Science Department Stanford University StanfordCA94305 United States Computer Science Department IBM Almaden Research Center San JoseCA95120-6099 United States

Previous work [2] has examined the properties of metals which might allow them to be distinguished from dielectrics in color images. This previous work assumes ideal surfaces, i.e. surfaces which are optically smooth and uncontaminated by coatings. In this paper, we discuss the problem of material identification and review the previous work. We then examine to what extent the ideas presented in [2] extend to more realistic surfaces. We present analysis describing a color shift which might occur for the light reflected from a rough metal surface. We also give a brief discussion of the effect of surface coatings on the optical properties of materials. Some experimental results are given. © 1988 SPIE. All rights reserved.

关键词： Coatings

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Active vision

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International Journal of computer vision 1988年第4期1卷 333-356页

作者： Aloimonos, John Weiss, Isaac Bandyopadhyay, Amit Computer Vision Laboratory Center for Automation Research University of Maryland College Park 20742 MD United States Department of Computer Science SUNY Stony Brook Stony Brook 11790 NY United States

We investigate several basic problems in vision under the assumption that the observer is active. An observer is called active when engaged in some kind of activity whose purpose is to control the geometric parameters of the sensory apparatus. The purpose of the activity is to manipulate the constraints underlying the observed phenomena in order to improve the quality of the perceptual results. For example a monocular observer that moves with a known or unknown motion or a binocular observer that can rotate his eyes and track environmental objects are just two examples of an observer that we call active. We prove that an active observer can solve basic vision problems in a much more efficient way than a passive one. Problems that are ill-posed and nonlinear for a passive observer become well-posed and linear for an active observer. In particular, the problems of shape from shading and depth computation, shape from contour, shape from texture, and structure from motion are shown to be much easier for an active observer than for a passive one. It has to be emphasized that correspondence is not used in our approach, i.e., active vision is not correspondence of features from multiple viewpoints. Finally, active vision here does not mean active sensing, and this paper introduces a general methodology, a general framework in which we believe low-level vision problems should be addressed. © 1987 Kluwer Academic Publishers.

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Localization of objects from range data

Localization of objects from range data

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Conference on computer vision and Pattern Recognition (CVPR)

作者： B.C. Vemuri J.K. Aggarwal Department of Computer Science University of Florida Gainesville FL USA Computer and Vision Research Center University of Texas Austin Austin TX USA

A technique is presented for determining the orientation of an object from single-view range data. The objects and models are represented by regions that are a collection of surface patches homogeneous in curvature-based properties. Given exactly one point on the surface of the unknown view of an object and the corresponding point on the surface of the model of the object, the principal vectors (if unique) can be used to determine the 3-D rotation required to bring the model into the same orientation as that of the object. To determine this one-point correspondence, curves of constant principal curvature are extracted from the surfaces (corresponding to regions possessing the same sign of the principal curvatures) of the model and the unknown view of an object. Then, the local maxima in the curvature of these curves are utilized as a means to establish the one-point correspondence.< >

关键词： computer vision Space technology Robot sensing systems Orbital robotics Robot vision systems computer science Face detection Image analysis Anthropomorphism Data acquisition

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Generation of volume/surface octree from range data

Generation of volume/surface octree from range data

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Conference on computer vision and Pattern Recognition (CVPR)

作者： C.H. Chien Y.B. Sim J.K. Aggarwal Computer Science Department Carnegie Mellon University Pittsburgh PA USA Computer and Vision Research Center University of Texas Austin Austin TX USA

The authors propose a scheme to generate the volume/surface octree structure from range data. The scheme is similar to that of the quadtree generation algorithm. However, in this case, each node in the quadtree is a binary tree corresponding to a range data point. Consequently, the octree of the viewed object can be generated efficiently by merging the neighboring binary trees recursively. Surface normals can be computed directly from the range image. They are encoded into associated binary trees and subsequently propagated to the corresponding octree nodes during the merging process. Since 3-D information of the viewed object is available in each range image, the proposed scheme is capable of capturing the concave structures in objects, which cannot be detected from intensity model construction. Furthermore, since the algorithms developed in this research are essentially recursive tree traversal procedures, they are suitable for parallel implementation.< >

关键词： Binary trees computer vision Merging computer graphics Application software computer science Object detection Indexing Data structures Image processing

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Motor schema based navigation for a mobile robot: An approach to programming by behavior

Motor schema based navigation for a mobile robot: An approac...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Arkin VISIONS/Laboratory for Perceptual Robotics Computer and Information Science Department Graduate Research Center University of Massachusetts Amherst MA

Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach.

关键词： Navigation Mobile robots Robot programming Robot sensing systems Control systems Cognitive robotics Vehicles Brain modeling Psychology Laboratories

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Industrial machine vision: lessons and challenges

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Optics News 1987年第2期13卷 12-17页

作者： Steven W. Holland Robert B. Tilove STEVEN W. HOLLAND is an assistant department head in the Computer Science Dept. of General Motors Research Laboratories (GMR). He is responsible for research projects involving computer vision robotics mobile robotics process planning knowledge systems natural language advanced programming environments parallel processing and statistics. ROBERT B. TILOVE is senior staff research scientist and project leader of the machine perception project at GMR. His research interests include geometric modeling model-based programming and control of intelligent automation systems.

No abstract available.

关键词： Integral imaging Machine vision Measurement and metrology Optical systems Sensors Statistics

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ROBOTIC AND ARTIFICIAL-INTELLIGENCE SYSTEMS FOR THE NAVAL OPERATIONAL ENVIRONMENT

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NAVAL ENGINEERS JOURNAL 1987年第4期99卷 74-86页

作者： HOGGE, SM The author earned her bachelor's of science degree in industrial engineering and operations research from Virginia Polytechnic Institute and State University. While at Virginia Tech she worked in the Robotics Laboratory supporting robotics research sponsored by the National Bureau of Standards. She completed her master's of science in computer science at The Johns Hopkins University. Until this past March Miss Hogge worked at the Naval Surface Weapons Center in Silver Spring Maryland. Her duties included the application of robotics and artificial intelligence to explosive ordnance disassembly mobile robotics remote controlled fire fighting vehicles human factors expert systems computer enhanced decision-making aids and hardware security. She published a two-volume study discussing shipboard operational applications of robotics and AI. In addition her publications include nine recent journal articles on robotics and computer security. Miss Hogge is currently employed with Automaker Inc. in Houston Texas. Her current role is manager of all government related robotic operations and vision systems. Miss Hogge's projects at Automaker include: an explosive ordnance disassembly gantry robot system a vision inspection system to examine bearings 3-part camouflage spray painting an investigation of the use of robotic welding in Navy shipyards and rework facilities and epoxy spray painting of missile radomes.

Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwindling personnel resources of the nation, efforts must be made to consider automating certain tasks, especially those that are hazardous, boring, and labor intensive onboard ships at sea. The Surface Ship Continuing Concept Formulation (CONFORM) Program (SEA-5014) sponsored the Naval Surface Weapons center's robotics Laboratory to identify potential applications of robotic and artificial intelligence systems to operation and mission activities for shipboard use. The results of the investigation concerning applications of robotics to automate the aforementioned tasks are presented. Changes in current manning levels for selected tasks and ship classes, i.e., CVs, CVNs, LPDs, LPNs, and auxiliaries are examined. Future ship designs incorporating robotics, such as the advance based repair (ABR) ship are discussed. Twenty-four applications were cited in the study which include a remote controlled vehicle for flight deck operations, limited tasks in biological, chemical, and radiation environments, computer aided command decision aids, ordnance handling, undersea search, recovery, and salvage, and ventilation duct cleaning. Four of the applications and their subsequent hardware fruition will be discussed.

关键词： robotics

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Tagged potential fields: An approach to specification of complex manipulator configurations

Tagged potential fields: An approach to specification of com...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Lyons Laboratory for Perceptual Robotics Department of Computer and Information Science Graduate Research Center University of Massachusetts Amherst MA

This paper suggests a solution to the specification problem inherent in writing programs for manipulators with many degrees of freedom. It introduces a mechanism called tagged potential fields, which can be used to economically specify a complex manipulator configuration. Some examples are demonstrated for preshaping a dextrous hand, and some of the possible future applications previewed.

关键词： Kinematics Manipulator dynamics Laboratories Grasping Information science Writing Robot programming Fingers Position control Graphics

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