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Canonical frames for planar object recognition 2nd

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2nd European Conference on computer Vision, ECCV 1992

作者： Rothwell, Charles A. Zisserman, Andrew Forsyth, David A. Mundy, Joseph L. Robotics Research Group Department of Engineering Science Oxford University United Kingdom Department of Computer Science University of Iowa IA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States

ISBN: (纸本)9783540554264

We present a canonical frame construction for determining projectively invariant indexing functions for non-algebraic smooth plane curves. These invariants are semi-local rather than global, which promotes tolerance to occlusion. Two applications are demonstrated. Firstly, we report preliminary work on building a model based recognition system for planar objects. We demonstrate that the invariant measures, derived from the canonical frame, provide sufficient discrimination between objects to be useful for recognition. Recognition is of partially occluded objects in cluttered scenes. Secondly, jigsaw puzzles are assembled and rendered from a single strongly perspective view of the separate pieces. Both applications require no camera calibration or pose information, and models are generated and verified directly from images. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Object recognition

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Integration of real-Time software modules for reconfigurable sensor-based control systems

Integration of real-Time software modules for reconfigurable...

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Stewart, D.B. Volpe, R.A. Khosla, P.K. Department of Electrical and Computer Engineering and the Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States

ISBN: (纸本)0780307372

In this paper we develop a framework for integrating real-Time software modules that comprise a reconfigurable multi-sensor based system. Our framework is based on the proposed concept of a global database of state information through which real-Time software modules exchange information. This methodology allows the development and integration of reusable software in a complex multiprocessing environment. A reconfigurable sensor-based control system consists of many software modules, each of which can be modelled using a simplified version of a port automaton. Our new state variable table mechanism can be used in both statically and dynamically reconfigurable systems, and it is completely processor independent. Individual modules may also be combined into larger modules to aid in building large systems, and to reduce bus and CPU utilization. An efficient implementation of the state variable table mechanism, which has been integrated into the Chimera I1 Real-Time Operating System, is also described. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Control systems

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Active tactile sensing by robotic fingers based on minimum-external-sensor-realization

Active tactile sensing by robotic fingers based on minimum-e...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaneko H. Maekawa K. Tanie Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Robotics Department Mechanical Engineering Laboratory Tsukuba Japan

The authors discuss active tactile sensing for detecting a contact point between a multifingered robot hand and an unknown object. They define the concept of actively sensible meaning that an active sensing motion can be planned for a sensing event. Assuming more than two sensing events, conditional-minimum-external-sensor-realization is defined, where it is shown that it is possible to reduce the number of external sensors with a well-planned sensing algorithm. Based on these definitions, an active sensing algorithm for detecting the contact point with minimum-external-sensor-realization is proposed. This approach remedies several disadvantages found in conventional approaches. The approach was tested through experiments using a single-finger model with a fingertip tactile sensor.< >

关键词： Robot sensing systems Fingers Tactile sensors Object detection Shape Motion detection computer science Systems engineering and theory Mechanical engineering Laboratories

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Recognising rotationally symmetric surfaces from their outlines 2nd

引用

2nd European Conference on computer Vision, ECCV 1992

作者： Forsyth, David A. Mundy, Joseph L. Zisserman, Andrew Rothwell, Charles A. Department of Computer Science University of Iowa Iowa CityIA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States Robotics Research Group Department of Engineering Science Oxford University United Kingdom

ISBN: (纸本)9783540554264

Recognising a curved surface from its outline in a single view is a major open problem in computer vision. This paper shows techniques for recognising a significant class of surfaces from a single perspective view. The approach uses geometrical facts about bitangencies, creases, and inflections to compute descriptions of the surface’s shape from its image outline. These descriptions are unaffected by the viewpoint or the camera parameters. We show, using images of real scenes, that these representations identify surfaces from their outline alone. This leads to fast and effective recognition of curved surfaces. The techniques we describe work for surfaces that have a rotational symmetry, or are projectively equivalent to a surface with a rotational symmetry, and can be extended to an even larger class of surfaces. All the results in this paper are for the case of full perspective. The results additionally yield techniques for identifying the line in the image plane corresponding to the axis of a rotationally symmetric surface, and for telling whether a surface is rotationally symmetric or not from its outline alone. © Springer-Verlag Berlin Heidelberg 1992.

关键词： computer vision

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

引用

1992 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 1992

作者： Young, G.-S. Hong, T.-H. Herman, M. Yang, J.C.S. GaithersburgMD20899 United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Department of Computer Science and Information Systems American University WashingtonDC20016 United States

ISBN: (纸本)0818628553

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported. © 1992 IEEE.

关键词： Manipulators

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Self-posture changeability (SPC) for 3-D link system

Self-posture changeability (SPC) for 3-D link system

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaneko K. Tanie Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Robotics Department Mechanical Engineering Laboratory Tsukuba Japan

The authors discuss the self-posture changeability (SPC) for a general 3-D link system. The series of motions brought about by SPC is called self-posture changing motions (SPCM). SPC and SPCM are considered assuming that the link system moves slowly enough to suppress any dynamic effects. It is shown that, according to a particular combination of link posture, joint assignment, and object shape, there exist a deadlock state, where no further angular displacement can be imparted to the position-controlled joint. It is also shown that there are two different types of deadlock states which never result in any SPCM. The authors introduce (w, omega )-posture changeability, the characteristic with which a link can change posture for every possible force within a cone of a prime axis w and a solid angle, omega . The necessary and sufficient conditions leading to (w, omega )-posture changeability are shown, for a given contact point and frictional conditions. a sufficient condition is included required to realize SPCM under the assumption that the contact point moves continuously over the object and the link-object system never results in a deadlock state.< >

关键词： Fingers Shape Tactile sensors Sufficient conditions Robot sensing systems Machine vision Force control Force sensors computer science Systems engineering and theory

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Non-Linear Control with End-Point Acceleration Feedback for a Two-Link Flexible Manipulator: Experimental Results

Non-Linear Control with End-Point Acceleration Feedback for ...

引用

American Control Conference (ACC)

作者： Farshad Khorrami Sandeep Jain Control/Robotics Research Laboratory School of Electrical Engineering & Computer Science Polytechnic University Brooklyn NY USA

In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.

关键词： Acceleration Linear feedback control systems Output feedback Payloads Vibration control Robust control Accelerometers Hydraulic actuators PD control Control systems

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Efficient distance computation using best ellipsoid fit

Efficient distance computation using best ellipsoid fit

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： E. Rimon S.P. Boyd Robotics Laboratory Department of Computer Science University of Stanford USA Information Systems Laboratory Department of Electrical Engineering University of Stanford USA

The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >

关键词： Ellipsoids Robots Shape measurement Laboratories Computational modeling Application software computer science Information systems Data structures Eigenvalues and eigenfunctions

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Simulation and graphical interface for programming and visualization of sensor-based robot operation

Simulation and graphical interface for programming and visua...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C.X. Chen M.M. Trivedi C.R. Bidlack Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >

关键词： Robot programming Visualization Robot sensing systems robotics and automation Computational modeling Robot vision systems Automatic control Animation computer simulation Software safety

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The Segmented Bus: A Dynamically Segmentable Interprocessor Communication Network For Intelligent Mobile Robot Systems

The Segmented Bus: A Dynamically Segmentable Interprocessor ...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.M. Aras Ren C. Luo D.S. Reeves Department of Electrical and Computer Engineering Robotics and Intelligent Systems Laboratory North Carolina State University Raleigh NC USA

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