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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

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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

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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

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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...

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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...

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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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An efficient algorithm for the configuration problem of dominance graphs 01

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

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Proceedings of the twelfth annual ACM-SIAM symposium on Discrete algorithms

作者： Ernst Althaus Denys Duchier Alexander Koller Kurt Mehlhorn Joachim Niehren Sven Thiel 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)9780898714906

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Precise 3D measurements with a high resolution stereo head

Precise 3D measurements with a high resolution stereo head

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International Symposium on Image and Signal Processing and Analysis

作者： A. Gasteratos R. Martinotti G. Metta G. Sandini Lab. for Integrated Adv. Robotics Genoa Univ. Italy Laboratory for Intergrated Advanced Robotics Department of Communication Computer and System Science University of Genova Genoa Italy

ISBN: (纸本)9539676924

We investigate a method to obtain accurate 3D measurements and we compare it with a standard photogrammetry method. The method utilizes a closed-loop to bring the point under measure in the middle of the two images of a stereo pair. It uses poor calibrated cameras and the accuracy of the measurements relies on the high resolution of the stereo head encoders and on its calibration as well. Experimental results have shown that the proposed method is more accurate than the standard photogrammetry method, as well as it is more robust to small variations of the initial position of the cameras.

关键词： Cameras Calibration Robustness Head Machine vision Equations laboratories Robot kinematics Communication standards Measurement standards

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Factorization method for multiple perspective views via iterative depth estimation

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Systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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