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检索条件"机构=Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics"

共 26 条记录，以下是11-20 订阅

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Informative Shape Representations for Human Action Recognition

Informative Shape Representations for Human Action Recogniti...

引用

International Conference on Pattern Recognition

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

关键词： Shape Humans Videos Tracking Kinematics Spatiotemporal phenomena Pattern recognition Optical computing Image motion analysis Computer vision

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Multiple robot path planning strategies for bush fire fighting

Multiple robot path planning strategies for bush fire fighti...

引用

2005 Australian Conference on robotics and Automation, ACRA 2005

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

ISBN: (纸本)0958758379

This paper addresses path planning strategies for multiple robots to cooperate to extinguish a many fronted bush fire where the need to deliver adequate water to each fire front and for each vehicle to carry a limited supply of water is taken into account, as is the time to extinguish each fire front, whose ferocity is proportional to the quantity of water required (estimated) to extinguish it. Both minimal total path length and minimal overall time solutions are sought. The number of robots available, their water carrying capacities and their speeds are specified, as is the number, locations and severity of fire fronts distributed over a known environment with obstacles.

关键词： Fires

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Fast global reflectional symmetry detection for robotic grasping and visual tracking

Fast global reflectional symmetry detection for robotic gras...

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2005 Australian Conference on robotics and Automation, ACRA 2005

作者： Li, Wai Ho Zhang, Alan M. Kleeman, Lindsay Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Monash University Clayton Melbourne Australia

ISBN: (纸本)0958758379

Many objects found in domestic environments are symmetrical. In this paper, a novel method to detect axis of reflectional symmetry in digital images is presented. The proposed approach utilizes image gradients and edge pixel matching to find lines of symmetry. Preliminary results, comparing the symmetry detector with the Generalized Symmetry Transform [Reisfeld et al., 1995] is provided.

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Dominant orientation tracking for path following

Dominant orientation tracking for path following

引用

IEEE IRS/RSJ International Conference on intelligent Robots and Systems, IROS 2005

作者： Zhang, Alan M. Russell, R. Andrew Centre for Perceptive and Intelligent Machines in Complex Environments: Intelligent Robotics Monash University Clayton VIC 3800 Australia

ISBN: (纸本)0780389123

The behaviour that allows mobile robots to follow what humans consider as paths is beneficial for autonomous nav- igation in a wide range of environments. Paths can be corridors, footpaths, catwalks, roads, etc. In fact roads can be considered as well-structured paths. Traditional approaches to path following has been extensions of road following systems. We present a vision-based path following method different to that of the traditional model fitting approach of road following. The method focuses on tracking the direction in which parallel lines in the environment are aligned. It is similar in principle to methods that extract vanishing points but with better robustness achieved with appropriate simplifying assumptions. Some preliminary results of successful path following experiments are also presented. © 2005 IEEE.

关键词： Roads and streets

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Broadening vector space schemes for improving the quality of information retrieval

Broadening vector space schemes for improving the quality of...

引用

7th Asia-Pacific Web Conference on Web Technologies Research and Development - APWeb 2005

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

The vector space model (VSM) of information retrieval suffers in two areas, it does not utilise term positions and it treats every term as being independent. We examine two information retrieval methods based on the simple vector space model. The first uses the query term position flow within the documents to calculate the document score, the second includes related terms in the query by making use of term correlations. Both of these methods show significant improvements over the VSM precision while keeping the query time to speeds similar to those of the VSM. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Information retrieval systems

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A ground-penetrating robot for underground chemical source location

A ground-penetrating robot for underground chemical source l...

引用

2005 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： R.A. Russell Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Monash University Clayton VIC Australia

The robot mole project at Monash University aims to develop robotic systems for locating the source of volatile chemicals released underground. As part of this project, a mobile robot, MOLE I has been designed that takes readings of underground chemical concentrations by inserting a probe into the ground at a sequence of locations. The robot is guided towards regions of higher chemical concentration using the hex-path algorithm. This algorithm was developed especially for the task of locating underground chemical sources and this is the first time that it has been tested using a mobile robot. There are important economic, environmental and humanitarian applications for systems that can find the source of an odor or volatile chemical located beneath the ground. These applications range from harvesting truffles, to finding the location of leaking chemical storage tanks and unexploded ordinance. In this paper, the robot construction and hex-path algorithm are described together with experimental results that demonstrate the capabilities of the robot system.

关键词： Position measurement Robot sensing systems Robot kinematics intelligent robots Mobile robots Probes Chemical hazards Machine intelligence Weapons Humans

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Dominant orientation tracking for path following

Dominant orientation tracking for path following

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2005 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： A.M. Zhang R.A. Russell Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Monash University Clayton VIC Australia

The behaviour that allows mobile robots to follow what humans consider as paths is beneficial for autonomous navigation in a wide range of environments. Paths can be corridors, footpaths, catwalks, roads, etc. In fact roads can be considered as well-structured paths. Traditional approaches to path following has been extensions of road following systems. We present a vision-based path following method different to that of the traditional model fitting approach of road following. The method focuses on tracking the direction in which parallel lines in the environment are aligned. It is similar in principle to methods that extract vanishing points but with better robustness achieved with appropriate simplifying assumptions. Some preliminary results of successful path following experiments are also presented.

关键词： Roads Mobile robots intelligent robots Machine intelligence Humans Navigation Robustness Maximum likelihood estimation Image segmentation Australia

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Wall following and obstacle avoidance results from a multi-DSP sonar ring on a mobile robot

Wall following and obstacle avoidance results from a multi-D...

引用

IEEE International Conference on Mechatronics and Automation

作者： S. Fazli L. Kleeman ARC Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University VIC Australia

Sensing capabilities of a multi-DSP sonar ring are demonstrated with wall following and obstacle avoidance behaviour. The autonomous mobile robot called "Sombrero" moves perpendicular to the nearest object on the left while controlling the distance to that object and generates high quality sonar maps. The wall following and obstacle avoidance behaviour is very simple due to the accurate and timely range and bearing (incidence angle) information provided by the advanced sonar ring. The advanced sonar ring consists of 48 ultrasonic transducers, 24 acting as transceivers and 24 acting as receivers, seven custom designed DSP echo processor boards and six analogue boards. The sonar ring is able to cover 360 degrees around robot with simultaneously firing of all 24 transmitters. Transmission and echo analysis are performed at repetition rates of about 10 Hz, for ranges up to six metres. Accurate distance and bearing measurements of objects are performed by the DSP system using matched filtering techniques. The robot is able to follow walls of various shapes such as a square, circle, concave corner and convex corner. Sombrero controls its motion based on the range and bearing data captured from the advanced sonar ring every 100 msec while moving with a constant speed. Experimental results illustrate the effectiveness of the sonar ring and the quality of the generated local maps.

关键词： Mobile robots Digital signal processing Sonar measurements Ultrasonic transducers Transceivers Process design Transmitters Performance analysis Performance evaluation Matched filters

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Interactive SLAM using Laser and Advanced Sonar

Interactive SLAM using Laser and Advanced Sonar

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Diosi G. Taylor L. Kleeman ARC Centre for Perceptive and Intelligent Machines in Complex Environments Department of Electrical and Computer Systems Engineering Monash University VIC Australia

This paper presents a novel approach to mapping for mobile robots that exploits user interaction to semiautonomously create a labelled map of the environment. The robot autonomously follows the user and is provided with a verbal commentary on the current location with phrases such as “Robot, we are in the office”. At the same time, a metric feature map is generated using fusion of laser and advanced sonar measurements in a Kalman filter based SLAM framework, which is later used for localization. When mapping is complete, the robot generates an occupancy grid for use in global task planning. The occupancy grid is created using a novel laser scan registration scheme that relies on storing the path of the robot along with associated local SLAM features during mapping, and later recovering the path by matching the associated local features to the final SLAM map. The occupancy grid is segmented into labelled rooms using an algorithm based on watershed segmentation and integration of the verbal commentary. Experimental results demonstrate our mobile robot creating SLAM and segmented occupancy grid maps of rooms along a 70 metre corridor, and then using these maps to navigate between rooms.

关键词： Simultaneous localization and mapping Mobile robots Robot sensing systems Sonar navigation robotics and automation Orbital robotics Fusion power generation Laser fusion Sonar measurements Mesh generation

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Laser scan matching in polar coordinates with application to SLAM

Laser scan matching in polar coordinates with application to...

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2005 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： A. Diosi L. Kleeman ARC Centre for Perceptive and Intelligent Machines in Complex Environments Department of Electrical and Computer Systems Engineering Monash University VIC Australia

This paper presents a novel method for 2D laser scan matching called polar scan matching (PSM). The method belongs to the family of point to point matching approaches. Our method avoids searching for point associations by simply matching points with the same bearing. This association rule enables the construction of an algorithm faster than the iterative closest point (ICP). Firstly the PSM approach is tested with simulated laser scans. Then the accuracy of our matching algorithm is evaluated from real laser scans from known relative positions to establish a ground truth. Furthermore, to demonstrate the practical usability of the new PSM approach, experimental results from a Kalman filter implementation of simultaneous localization and mapping (SLAM) are provided.

关键词： Simultaneous localization and mapping Iterative closest point algorithm Iterative methods Association rules Iterative algorithms Histograms Application software Machine intelligence Systems engineering and theory Testing

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