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检索条件"机构=Computational Robotics Lab in the Department of Computer Science"

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On viewpoint control

On viewpoint control

引用

2002 IEEE International Conference on robotics and Automation

作者： Uppala, S. Karuppiah, D.R. Brewer, M. Ravela, S. Chandu Grupen, R.A. Lab. Perceptual Robotics Comp. Vis. Computer Science Department University of Massachusetts Amherst MA 01003 United States

In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed into three control objectives namely;obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using a new subject-to composition operator. It is shown that the system is stable under this composition. The system is demonstrated for tracking a human subject using a fixed panoramic sensor and another panoramic sensor mounted on a mobile platform.

关键词： Mobile robots

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An experiment in constraining vision-based finger contact selection with gripper geometry

An experiment in constraining vision-based finger contact se...

引用

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Morales, Antonio Sanz, Pedro J. Del Pobil, Ángel P. Fagg, Andrew H. Robotic Intelligence Lab. Department of Engineering Universitat Jaume I Castelló Spain Laboratory of Perceptual Robotics Departement of Computer Science University of Massachusetts Amherst MA United States

Research in grasping and manipulation has mainly focused on the theoretical framework of the grasp analysis and synthesis, however there are few works in the practical implementation of these approaches. We propose several methods and criteria for constraining visually-selected planar grasps to the particular kinematics of a three-finger gripper, the Barrett Hand. The method relies on the features of an object provided by a vision system, and uses several criteria for classifying the possible grasps according to the configurations of the gripper that fit them. It has been implemented on the UMass Torso and the results are discussed.

关键词： Grippers

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Real-time tracking for managing suburban intersections

Real-time tracking for managing suburban intersections

引用

International Conference on Digital Signal Processing (DSP)

作者： H. Veeraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Lab Department of Computer Science and Engineering University of Minnesota USA

The goal of this project is to develop a passive vision-based sensing system capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera mounted at an arbitrary position looking at an intersection is used. However, for extended applications multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and predicting collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the Stauffer method for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Monitoring Accidents Calibration Gaussian processes

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CMOS IC topology design verification by heuristic dynamic programming (HDP)

CMOS IC topology design verification by heuristic dynamic pr...

引用

Proceedings of the Artificial Neutral Networks in Engineering Conference:Smart Engineering System Design

作者： Zhang, Nian Harary, Frank Wunsch II, Donald C. Appl. Computational Intelligence Lab Dept. of Elec./Computer Engineering University of Missouri-Rolla 1870 Miner Circle Rolla MO 65409 United States Computer Science Department New Mexico State University Las Cruces NM 88003 United States

The applications of non-standard logic device are increasing fast in the industry. Many of these applications require high speed, low power, functionality and flexibility, which cannot be obtained by standard logic device. These special logic cells can be constructed by the topology design strategy automatically or manually. However, the need arises for the topology design verification. The layout versus schematic (LVS) analysis is an essential part of topology design verification, and subcircuit extraction is one of the operations in the LVS testing. In this paper, a novel neural network based heuristic dynamic programming algorithm (SubHDP) on subcircuit extraction problem is proposed. To evaluate its performance, we compare the SubHDP with a non-neural approach. The run time of SubHDP algorithm is faster than the non-neural algorithm when the main circuit has no more than 20,000 transistors, however, when the main circuit has more than 20,000 transistors, the non-neural algorithm becomes faster.

关键词： CMOS integrated circuits

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Recognizing hand posture by vision: applications in humanoid personal robotics

Recognizing hand posture by vision: applications in humanoid...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C. Laschi M. Gonzalo-Tasis J.F. Codes P. Dario Arts Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Humanoid Robotics Institute Waseda University Tokyo Japan Eca-Simm Group Department of Computer Science University of Valladolid Spain Department of Algebra Geometry and Topology University of Valladolid Spain

In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. We propose the application of robot vision to the identification of hand posture, as a first step in gesture detection, for two main classes of reasons: 1) the recognition of human hand posture can help human-robot interaction, especially in relation to 'teaching by demonstration'; 2) the recognition of the robot hand can allow visual servoing, especially helpful in environments and tasks with a high level of uncertainty. The paper presents the development of a vision system for hand posture recognition, by describing the basic algorithmic implementation, based on symbolic representations, and reporting the experimental results obtained in the recognition of a three-fingered robotic hand.

关键词： Humanoid robots Robot vision systems Robot kinematics Robot sensing systems Human robot interaction Visual servoing Education robotics and automation Grasping Subspace constraints

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Homography-based visual servoing of wheeled mobile robots

Homography-based visual servoing of wheeled mobile robots

引用

IEEE Conference on Decision and Control

作者： Y. Fang D.M. Dawson W.E. Dixon M.S. de Queiroz Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. Robotics Oak Ridge Nat. Lab. Oak Ridge TN Department of Mechanical Engineering Louisiana State University Baton Rouge LA

By comparing the features of an object from a desired image to features of the object in the current image, geometric relationships are exploited to enable a Euclidean reconstruction from a homography matrix that relates the image-space feedback to the position/orientation of the wheeled mobile robot (WMR) in a local coordinate system. The information obtained from the homography is used to develop a kinematic controller that yields asymptotic regulation of the position/orientation of a WMR system that is modeled as an underactuated "kinematic wheel" subject to nonholonomic constraints. The control design is facilitated by performing the stability analysis in terms of the unmeasurable camera/WMR Euclidean position. In contrast to many of the previous homography-based visual servo controllers, the kinematic control law does not depend on the numerical estimation of depth measurements. The control design is based on the nonlinear model of the vision system and the mobile robot system and is analyzed through a Lyapunov-based stability analysis.

关键词： Visual servoing Mobile robots Kinematics Control design Stability analysis Image reconstruction Feedback Wheels Robot vision systems Cameras

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A learning method for automated polyp detection 4th

引用

4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Gokturk, S.B. Tomasi, C. Acar, B. Paik, D. Beaulieu, C. Napel, S. Robotics Lab Computer Science Department Stanford University United States Three Dimensional Imaging Lab Department of Radiology Stanford University United States

ISBN: (纸本)3540426973

Adenomatous polyps in the colon have a high probability of developing into subsequent colorectal carcinoma, the second leading cause of cancer deaths in United States. In this paper, we propose a new method for computer-aided diagnosis of polyps. Initial work with shape detection has shown high sensitivity for polyp detection, but at a cost of too many false positive detections. We present a statistical approach that uses support vector machines to distinguish the differentiating characteristics of polyps and healthy tissue, and subsequently uses this information for the classification of the new cases. One of the main contributions of the paper is a new 3-D pattern analysis approach, which combines the information from many random images to generate reliable signatures of the shapes. At 80% polyp detection rate, the proposed system reduces the false positive rate by 80% compared to previous work. © Springer-Verlag Berlin Heidelberg 2001.

关键词： computer aided diagnosis

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A new 3-D volume processing method for polyp detection

A new 3-D volume processing method for polyp detection

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： S.B. Gokturk C. Tomasi B. Acar D. Paik C. Beaulieu S. Napel Robotics Lab Computer Science Department University of Stanford USA Department of Radiology University of Stanford USA

Early diagnosis and removal of colonic polyps is effective in the elimination of subsequent carcinoma. This paper presents a new approach for computer-aided detection of polyps. The approach mimics the way the radiologists view CT abdomen images and utilizes several geometric attributes obtained from many triples of mutually orthogonal planes. The histogram of the attributes obtained from a sufficiently large number of perpendicular random images serves as a robust signature to represent the shape. We combine the new 3-D pattern recognition with a support vector machine classifier, and show that the number or the false positive detections in the initial polyp detection studies can be substantially reduced. One of the main contributions of this study is the thorough analysis of planar geometrical attributes. When an appropriate combination of planar attributes is used, the false positive rate is reduced by 87 percent beyond that of the initial stage detector, while maintaining a sensitivity level of 95 percent. Using such methods, radiologists should be able to view CTC data much more efficiently and accurately than without CAD.

关键词： Colonic polyps Computed tomography Abdomen Histograms Robustness Shape Pattern recognition Support vector machines Support vector machine classification Detectors

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Resource discovery for dynamic clusters in computational grids 15

Resource discovery for dynamic clusters in computational gri...

引用

15th International Parallel and Distributed Processing Symposium, IPDPS 2001

作者： Rana, O.F. Bunford-Jones, D. Walker, D.W. Addis, M. Surridge, M. Hawick, K. Department of Computer Science Cardiff University United Kingdom Computational Sciences Section Oak Ridge National Lab. United States IT Innovation Centre Southampton United Kingdom School of Informatics University of Wales Bangor United Kingdom

ISBN: (纸本)0769509908

We describe a de-centralised approach to resource management and discovery, based on a community of interacting software agents. Each agent either represents a user application, a resource, or a MatchMaking service. The proposed approach can support dynamic registration of resources and user tasks, facilitating the establishment of dynamic clusters. Resource capability and task requirements are described using an object based data model, enabling new types of devices or new features in existing devices to be identified. A comparison with the Discovery and LookUp services in Jini and TSpaces is also provided. © 2001 IEEE.

关键词： Grid computing

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An efficient algorithm for the configuration problem of dominance graphs

An efficient algorithm for the configuration problem of domi...

引用

2001 Operating Section Proceedings, American Gas Association

作者： Althaus, Ernst Duchier, Denys Koller, Alexander Mehlhorn, Kurt Niehren, Joachim Thiel, Sven Max-Planck-Institute for Computer Science Saarbrücken Germany Programming Systems Lab. Fachbereich Informatik Universität des Saarlandes Saarbrücken Germany Department of Computational Linguistics Universität des Saarlandes Saarbrücken Germany

ISBN: (纸本)0898714907

Dominance constraints are logical tree descriptions originating from automata theory that have multiple applications in computational linguistics. The satisfiability problem of dominance constraints is NP-complete. In most applications, however, only normal dominance constraints are used. The satisfiability problem of normal dominance constraints can be reduced in linear time to the configuration problem of dominance graphs, as shown recently. In this paper, we give a polynomial time algorithm testing configurability of dominance graphs (and thus satisfiability of normal dominance constraints). Previous to our work no polynomial time algorithms were known. Copyright © 2009 ACM, Inc.

关键词： Human factors Languages Verification

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