The gecko's remarkable dry adhesive system, consisting of arrays of heirarchically stuctured hairs made from a stiff material, has motivated widespread interest in creating a synthetic dry adhesive whose adhesive ...
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We consider the problem of creating compact surface-based environment models from stereo vision images taken from a stereo-camera equipped mobile robot The stereo images can be quite complex and correlation stereo suf...
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ISBN:
(纸本)0780384636
We consider the problem of creating compact surface-based environment models from stereo vision images taken from a stereo-camera equipped mobile robot The stereo images can be quite complex and correlation stereo suffers from considerable noise at ranges over a few metres. We construct the environment models by segmenting the scene viewed from a stereo camera into rectangular planar surfaces through the use of the patchlets surface element data structure. Patchlets are the projection of the stereo pixels onto detected surfaces in the scene. They have position, orientation, size and sensor-based confidence measures. The confidence measures allow proper weighting of patchlet parameters when aggregating patchlets into larger surfaces.
This paper describes work-in-progress aimed at generating dense 3D maps of urban environments using laser range data acquired from a moving platform. These maps display both fine-scale detail (resolving features only ...
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ISBN:
(纸本)0780384636
This paper describes work-in-progress aimed at generating dense 3D maps of urban environments using laser range data acquired from a moving platform. These maps display both fine-scale detail (resolving features only a few centimeters across) and large-scale consistency (typical maps are approximately 0.5 km on a side). In this paper, we sketch a basic 3D mapping algorithm (paying particular attention to practical engineering details) and present preliminary results acquired on the USC University Park Campus using a Segway RMP vehicle.
This paper describes a practical approach to the robot grasping problem. An approach that is composed of two different parts. First, a vision-based grasp synthesis system implemented on a humanoid robot able to comput...
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ISBN:
(纸本)0889864586
This paper describes a practical approach to the robot grasping problem. An approach that is composed of two different parts. First, a vision-based grasp synthesis system implemented on a humanoid robot able to compute a set of feasible grasps and to execute any of them. This grasping system takes into account gripper kinematics constraints and uses little computational effort. Second, a learning framework aimed at discovering the visual features that predict a reliable grasp. A grasp characterization scheme based on a set of visual features is developed in order to describe and compare grasps. In addition, a practical measure of grasp reliability is designed and ***, an algorithm aimed at predicting the performance of an untested grasp using the results observed on previous similar attempts is presented. A second algorithm that actively selects the next grasp to be executed in order to improve the predictive quality of the accumulated experience is introduced, too. An exhaustive database of experimental data is collected and used to test and validate both algorithms.
Particle filtering is a very popular technique for sequential state estimation problem. However its convergence greatly depends on the balance between the number of particles/hypotheses and the fitness of the dynamic ...
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Particle filtering is a very popular technique for sequential state estimation problem. However its convergence greatly depends on the balance between the number of particles/hypotheses and the fitness of the dynamic model. In particular, in cases where the dynamics are complex or poorly modeled, thousands of particles are usually required for real applications. This paper presents a hybrid sampling solution that combines the sampling in the image feature space and in the state space via RANSAC and particle filtering, respectively. We show that the number of particles can be reduced to dozens for a full 3D tracking problem which contains considerable noise of different types. For unexpected motions, a specific set of dynamics may not exist, but it is avoided in our algorithm. The theoretical convergence proof [1, 3] for particle filtering when integrating RANSAC is difficult, but we address this problem by analyzing the likelihood distribution of particles from a real tracking example. The sampling efficiency (on the more likely areas) is much higher by the use of RANSAC. We also discuss the tracking quality measurement in the sense of entropy or statistical testing. The algorithm has been applied to the problem of 3D face pose tracking with changing moderate or intense expressions. We demonstrate the validity of our approach with several video sequences acquired in an unstructured environment.
This paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible...
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ISBN:
(纸本)9781586034528
This paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible grasps and to execute any of them and measure their actual reliability. An algorithm aimed at predicting the performance of an untested grasp using the results observed on previous similar attempts is presented. The previous experience is stored using a set of vision-based grasp descriptors. Moreover, a second algorithm that actively selects the next grasp to be executed in order to improve the predictive quality of the accumulated experience is introduced. An exhaustive database of experimental data is collected and used to test and validate both algorithms.
In this paper, we show how the dynamics of Q-learning can be visualized and analyzed from a perspective of Evolutionary Dynamics (ED). More specifically, we show how ED can be used as a model for Q-learning in stochas...
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In the semantic Web architecture, Web ontology languages are built on top of RDF(S). However, serious difficulties have arisen when trying to layer expressive ontology languages, like OWL, on top of RDF-Schema. Althou...
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ISBN:
(纸本)158113844X
In the semantic Web architecture, Web ontology languages are built on top of RDF(S). However, serious difficulties have arisen when trying to layer expressive ontology languages, like OWL, on top of RDF-Schema. Although these problems can be avoided, OWL (and the whole semantic Web architecture) becomes much more complex than it should be. In this paper, a possible simplification of the semantic Web architecture is suggested, which has several important advantages with respect to the layering currently accepted by the W3C Ontology Working Group.
In this paper, we show how the dynamics of Q-learning can be visualized and analyzed from a perspective of Evolutionary Dynamics (ED). More specifically, we show how ED can be used as a model for Qlearning in stochast...
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This work proposes a new kind of evolutionary algorithm inspired in the principles of quantum computing. This algorithm is an extension of a proposed model for combinatorial optimization problems which uses a binary r...
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