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作者： Jarvis, Ray Intelligent Robotics Research Centre ARC Centre for Perceptive and Intelligent Machines in Complex Environments

ISBN: (纸本)9783540774563

This paper concerns the development of a semi-autonomous 40 foot boom lift vehicle for robotic bush fire fighting support which aims at minimising risk of injury or death by bush fire fighters in critical conditions. The vehicle is intended to be multi-purpose and support forward scout, search and rescue and actual fire fighting activities alongside human operatives. Multiple level control strategies, inspired by an earlier semi-autonomous wheelchair project, are being implemented. Progress to date is presented. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Modelling a deposition process in collective construction

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Turkish Journal of Electrical Engineering and Computer Sciences 2007年第2期15卷 227-255页

作者： Stewart, Robert L. Russell, R. Andrew Kleeman, Lindsay Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Monash University Wellington Rd. Clayton Vic. 3800 Australia

During collective construction tasks, swarm robots coordinate their actions in space and time to build structures that conform to some given design or specification. In this paper, a simulation model and a mathematical model (based on a Markov chain) are introduced to describe the deposition process of a previously detailed robotic swarm system that uses templates and feedback to facilitate construction. The models are based on the behaviour and geometry of real robots and predict the dynamics observed during practical trials as well as explaining the occurrence of different spatial patterns of building blocks. Furthermore, the models provide an insight into the swarm system and a solid basis for understanding the feedback mechanism that is fundamental to its operation. The theoretical models are verified with practical trials performed by physical robots. © TÜBTAK.

关键词： Robotic assembly

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Multimodal human-robot interaction in an assistive technology context

Multimodal human-robot interaction in an assistive technolog...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Harte, Elizabeth Jarvis, Professor Raymond Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia ARC Centre for Perceptive and Intelligent Machines in Complex Environments Australia

ISBN: (纸本)9780958758390

In this paper, we present a prototype robotic system that captures, processes and fuses speech, vision and laser-depth data to more accurately interpret and perform simple tasks in a domestic environment. We can never assume that any one of these inputs are completely accurate, but by using a combination, a more accurate interpretation could be found. For each speech, gesture recognition and object recognition input, an associated probability of correctness is calculated. Using these probabilities, a predefined associative map between specific words and gestures, and contextual information, we update the associated probability until some threshold has been reached. This contextual information includes the history of recently uttered phrases, as well as the information about known objects in the environment. Once an interpretation, complete or otherwise, is found, a response is formulated. This system has been developed using a Mitsubishi Heavy Industries robot, Wakamaru, as a platform.

关键词： Probability

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Mining web multi-resolution community-based popularity for information retrieval

Mining web multi-resolution community-based popularity for i...

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16th ACM Conference on Information and Knowledge Management, CIKM 2007

作者： Park, Laurence A. F. Ramamohanarao, Kotagiri ARC Centre for Perceptive and Intelligent Machines in Complex Environments Department of Computer Science and Software Engineering University of Melbourne Australia

ISBN: (纸本)9781595938039

The PageRank algorithm is used in Web information retrieval to calculate a single list of popularity scores for each page in the Web. These popularity scores are used to rank query results when presented to the user. By using the structure of the entire Web to calculate one score per document, we are calculating a general popularity score, not particular to any community. Therefore, the PageRank scores are more suited to general queries. In this paper, we introduce a more general form of PageRank, using Web multi-resolution community-based popularity scores, where each document obtains a popularity score dependent on a given Web community. When a query is related to a specific community, we choose the associated set of popularity scores and order the query results accordingly. Using Web-community based popularity scores, we achieved an 11% increase in precision over PageRank. Copyright 2007 ACM.

关键词： Information retrieval

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Robot path planning: complexity, flexibility and application scope 06

Robot path planning: Complexity, flexibility and application...

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International Symposium on Practical Cognitive Agents and Robots, PCAR 2006

作者： Jarvis, Ray Intelligent Robotics Research Centre ARC Centre for Perceptive and Intelligent Machines in Complex Environments Monash University VIC 3800 Australia

ISBN: (纸本)1740521307

The three essential requirements of sensor based robotic arm manipulation and mobile robot navigation are localization (position and pose determination), environmental mapping (forming a model of the working environment) and trajectory (for manipulators) or path (for mobile robots) planning. This paper concerns the last of these and compares a number of approaches with regard to complexity, flexibility and application scope. Knowledge about these aspects is crucial in choosing an effective strategy for particular application domains. Copyright © held by author.

关键词： Motion planning

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Analyzing human movements from silhouettes using manifold learning

Analyzing human movements from silhouettes using manifold le...

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IEEE International Conference on Video and Signal Based Surveillance 2006, AVSS 2006

作者： Wang, Liang Suter, David ARC Centre for Perceptive and Intelligent Machines in Complex Environments Monash University Clayton Vic. 3800 Australia

ISBN: (纸本)0769526888

A novel method for learning and recognizing sequential image data is proposed, and promising applications to vision-based human movement analysis are demonstrated. To find more compact representations of high-dimensional silhouette data, we exploit locality preserving projections (LPP) to achieve low-dimensional manifold embedding. Further, we present two kinds of methods to analyze and recognize learned motion manifolds. One is correlation matching based on the Hausdorrf distance, and the other is a probabilistic method using continuous hidden Markov models (HMM). Encouraging results are obtained in two representative experiments in the areas of human activity recognition and gait-based human identification. © 2006 IEEE.

关键词： Data reduction

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Informative shape representations for human action recognition

Informative shape representations for human action recogniti...

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18th International Conference on Pattern Recognition, ICPR 2006

作者： Liang, Wang Suter, David ARC Centre for Perceptive and Intelligent Machines in Complex Environments Monash University Clayton Vic. 3800 Australia

ISBN: (纸本)0769525210

Shape and kinematics are two important cues in human movement analysis. Due to real difficulties in extracting kinematics from videos accurately, this paper proposes to address the problem of human action recognition by spatiotemporal shape analysis. Without explicit feature tracking and complex probabilistic modeling of human movements, we directly convert an associated sequence of human silhouettes derived from videos into two types of computationally efficient representations, i.e., average motion energy and mean motion shape, to characterize actions. Supervised pattern classification techniques using various distance measures are used for recognition. The encouraging experimental results are obtained on a recent dataset including 10 different actions from 9 subjects. © 2006 IEEE.

关键词： Gesture recognition

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An analysis of linear subspace approaches for computer vision and pattern recognition

An analysis of linear subspace approaches for computer visio...

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作者： Chen, Pei Suter, David ARC Centre for Perceptive and Intelligent Machines in Complex Environments Department of Electrical and Computer Systems Engineering Monash University 3800 Australia

Linear subspace analysis (LSA) has become rather ubiquitous in a wide range of problems arising in pattern recognition and computer vision. The essence of these approaches is that certain structures are intrinsically (or approximately) low dimensional: for example, the factorization approach to the problem of structure from motion (SFM) and principal component analysis (PCA) based approach to face recognition. In LSA, the singular value decomposition (SVD) is usually the basic mathematical tool. However, analysis of the performance, in the presence of noise, has been lacking. We present such an analysis here. First, the "denoising capacity" of the SVD is analysed. Specifically, given a rank-r matrix, corrupted by noise - how much noise remains in the rank-r projected version of that corrupted matrix? Second, we study the "learning capacity" of the LSA-based recognition system in a noise-corrupted environment. Specifically, LSA systems that attempt to capture a data class as belonging to a rank-r column space will be affected by noise in both the training samples (measurement noise will mean the learning samples will not produce the "true subspace") and the test sample (which will also have measurement noise on top of the ideal clean sample belonging to the "true subspace"). These results should help one to predict aspects of performance and to design more optimal systems in computer vision, particularly in tasks, such as SFM and face recognition. Our analysis agrees with certain observed phenomenon, and these observations, together with our simulations, verify the correctness of our theory. © 2006 Springer Science + Business Media, LLC.

关键词： Computer vision

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Distance Transform Based Gaussian Distribution for Probabilistic Target Tracking

Distance Transform Based Gaussian Distribution for Probabili...

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2006 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Mohamed S. Marzouqi Ray A. Jarvis Intelligent Robotics Research Centre Australian Research Council Centre for Perceptive and Intelligent Machines in Complex Environments Monash University Australia

In this paper, a promising approach for visual target tracking is presented. A mobile robot should keep an unpredictably moving target in a cluttered environment within its field of view. The objective is mainly to plan online the shortest tracking path that offers a continuous monitoring of the target. A distance transform based Gaussian distribution for obstacle cluttered space is used to build a probabilistic model for the target future location. It identifies the target potential escapes out of the robot view. Accordingly, the robot navigates to an appropriate observing point that is calculated and updated continuously as the target moves. The approach has been tested on simulated static and dynamic environments. A number of test cases are presented

关键词： Gaussian distribution Target tracking intelligent robots Orbital robotics Mobile robots Machine intelligence Monitoring Navigation Testing Probability distribution

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Analyzing Human Movements from Silhouettes Using Manifold Learning

Analyzing Human Movements from Silhouettes Using Manifold Le...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Liang Wang David Suter ARC Centre for Perceptive and Intelligent Machines in Complex Environments Monash University Clayton VIC Australia

关键词： Humans Image motion analysis Spatiotemporal phenomena Image recognition Motion analysis Hidden Markov models Image analysis Feature extraction Machine learning Optical computing

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