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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： P. Núñez P. Drews R. Rocha M. Campos J. Dias ISIS Group Universidad de Málaga Spain Dept. Tecnologia de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department Electrical and Computer Engineering University of Coimbra Portugal Dept. Computer Science Federal University of Minas Gerais Brazil Dept. Electrical and Computer Engineering University of Coimbra Portugal

This paper describes an efficient method for retrieving the 3-dimensional shape associated to novelties in the environment of an autonomous robot, which is equipped with a laser range finder. First, changes are detected over the point clouds using a combination of the Gaussian mixture model (GMM) and the earth mover's distance (EMD) algorithms. Next, the shape retrieval is achieved using two different algorithms. First, new samplings are generated from each Gaussian function, followed by a random sampling consensus (RANSAC) algorithm to retrieve geometric primitives. Furthermore, a new algorithm is developed to directly retrieve the shape according to the mathematical space of Gaussian mixture. In this paper, the set of geometric primitives has been limited to the set C = {sphere, cylinder, plane} . The two shape retrieval methods are compared in terms of computational cost and accuracy. Experimental results in various real and simulated scenarios demonstrate the feasibility of the approach.

关键词： Shape Surveillance Intelligent robots Mobile robots Simultaneous localization and mapping Clouds Sampling methods Navigation Robotic assembly Change detection algorithms

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Motion planning for a vigilant humanoid robot

Motion planning for a vigilant humanoid robot

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IEEE-RAS International Conference on Humanoid Robots

作者： Jean-Bernard Hayet Claudia Esteves Gustavo Arechavaleta Eiichi Yoshida Computer Science Group Centro de Investigación en Matemáticas Guanajuato Mexico Department of Mathematics Universidad de Guanajuato Guanajuato Mexico Robotics and Advance Manufacturing Group Centro de Investigación y de Estudios Avanzados del IPN (CINVESTAV) Saltillo Coahuila Mexico Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

ISBN: (纸本)9781424445875

This paper presents a motion planner for a vigilant humanoid robot. In this context of surveillance, the robot task is to keep a distinctive point in the environment in sight during all of its motion. The method we propose consists of three main ingredients: (1) A motion planner for an appropriate simplified model of the walking robot, adapted to the particular needs of humanoid robots, that outputs an admissible path with local optimality properties. This path is guaranteed to satisfy the visibility constraints resulting both from the landmark and from the angular limits of the mechanical system; (2) A generic walking pattern generator that produces stable walking motions; (3) A generalized inverse-kinematics module to satisfy the remaining collisions and posture constraints, in particular the gaze direction. The effectiveness of this method is shown with several examples on the humanoid robot plataform HRP-2.

关键词： Motion planning Humanoid robots Legged locomotion Service robots Surveillance Monitoring Collision avoidance Robot sensing systems Mechanical systems Humans

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A comparison of six approaches to discretization-a rough set perspective

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3rd International Conference on Rough Sets and Knowledge Technology, RSKT 2008

作者： Blajdo, Piotr Grzymala-Busse, Jerzy W. Hippe, Zdzislaw S. Knap, Maksymilian Mroczek, Teresa Piatek, Lukasz Department of Expert Systems and Artificial Intelligence University of Information Technology and Management Rzeszow 35-225 Poland Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS 66045 United States Department of Distributed Systems University of Information Technology and Management Rzeszow 35-225 Poland Institute of Computer Science Polish Academy of Sciences Warsaw 01-237 Poland

ISBN: (纸本)3540797203

We present results of extensive experiments performed on nine data sets with numerical attributes using six promising discretization methods. For every method and every data set 30 experiments of ten-fold cross validation were conducted and then means and sample standard deviations were computed. Our results show that for a specific data set it is essential to choose an appropriate discretization method since performance of discretization methods differ significantly. However, in general, among all of these discretization methods there is no statistically significant worst or best method. Thus, in practice, for a given data set the best discretization method should be selected individually. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Rough set theory

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On the Design of Rotorcraft Landing Controllers

On the Design of Rotorcraft Landing Controllers

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2008 Mediterranean Conference on Control Automation, vol.4

作者： Pedro Serra Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute of Systems and Robotics Instituto Superior Technico Lisboa Portugal

This paper describes a solution to the problem of landing a helicopter autonomously. The methodology used poses the problem as a discrete time path following control problem where a conveniently defined error state space model of the helicopter is modified to include the aerodynamic effects of flying within close proximity to the ground. An affine parameter-dependent model representation is adopted that describes the helicopter linearized error dynamics for the predefined landing operating region. A state feedback H{sub}2 control problem for affine parameter-dependent systems is posed and solved using Linear Matrix Inequalities (LMIs). The resulting nonlinear controller is implemented using the D-methodology and dynamic weights to enforce bandwidth constraints on the actuators. The effectiveness of the proposed controller with and without dynamic weights on the actuation is assessed in simulation using the full nonlinear dynamic model of a small-scale helicopter.

关键词： Automation Conferences

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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3D Face Tracking and Expression Inference from a 2D Sequence Using Manifold Learning

3D Face Tracking and Expression Inference from a 2D Sequence...

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26th IEEE Conference on computer Vision and Pattern Recognition (CVPR 2008), vol.11

作者： Wei-Kai Liao Gerard Medioni Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We propose a person-dependent, manifold-based approach for modeling and tracking rigid and nonrigid 3D facial deformations from a monocular video sequence. The rigid and nonrigid motions are analyzed simultaneously in 3D, by automatically fitting and tracking a set of landmarks. We do not represent all nonrigid facial deformations as a simple complex manifold, but instead decompose them on a basis of eight 1D manifolds. Each 1D manifold is learned offline from sequences of labeled expressions, such as smile, surprise, etc. Any expression is then a linear combination of values along these 8 axes, with coefficient representing the level of activation. We experimentally verify that expressions can indeed be represented this way, and that individual manifolds are indeed 1D. The manifold dimensionality estimation, manifold learning, and manifold traversal operation are all implemented in the N-D Tensor Voting framework. Using simple local operations, this framework gives an estimate of the tangent and normal spaces at every sample, and provides excellent robustness to noise and outliers. The output of our system, besides the tracked landmarks in 3D, is a labeled annotation of the expression. We demonstrate results on a number of challenging sequences.

关键词： Deformable models Active appearance model Active shape model Face detection Intelligent robots Facial animation Humans Principal component analysis computer science robotics and automation

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Output-feedback control for almost global stabilization of fully-actuated rigid bodies

Output-feedback control for almost global stabilization of f...

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IEEE Conference on Decision and Control

作者： David Cabecinhas Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

ISBN: (纸本)9781424431236

This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated considering the natural space for rigid body configurations, the Special Euclidean group SE(3). The proposed solution consists of an output-feedback controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is a stable attractor for all initial conditions except for those in a nowhere dense set of measure zero. As an additional feature, the controller is required to verify prescribed bounds on the actuation.

关键词： Control systems Force control Geometry Asymptotic stability US department of Transportation Torque control State-space methods Quaternions Adaptive control Robot kinematics

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Multi features models for robust lip tracking

Multi features models for robust lip tracking

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Quoc Dinh Nguyen Maurice Milgram Thi-Hoang-Lan Nguyen Institute of Intelligent Systems and Robotics University of Pierre and Marie Curie-Paris VI Paris France Department of Computer Science Hanoi University of Technology Hanoi Vietnam

We propose and evaluate a novel method for enhancing performance of lips contour tracking, which is based on the concept of statistic shape models (ASM) and multi features. On the first image of the video sequence, lip region is detected using the Bayesian's rule in which lip color information is modeled by using the Gaussian mixture model (GMM) and the GMM is trained by expectation-maximization (EM) algorithm. The lip region is then used to initialize the lip shape model. A single feature-based ASM presents good performance only in particular conditions but gets stuck in local minima for noisy conditions (like beard, wrinkle, poor texture, low contrast between lip and skin, etc). To enhance the convergence, we propose to use 2 features: normal profile and grey level patches, and combine them by using a voting approach. The standard ASM is not able to take into account temporal information from previous frames therefore the lip contours are tracked by replacing the standard ASM with a hybrid active shape model (HASM) which is capable to take advantage of the temporal information. Initial experimental results on video sequences show that MF-HASM is more robust to local minimum problem and gives a higher accuracy than traditional single feature-based method in lip tracking problem.

关键词： Robustness Shape Video sequences Lips Statistics Bayesian methods Noise shaping Skin Convergence Voting

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Spatial-Temporal correlatons for unsupervised action classification

Spatial-Temporal correlatons for unsupervised action classif...

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Workshop on Motion and Video Computing

作者： Silvio Savarese Andrey DelPozo Juan Carlos Niebles Li Fei-Fei Beckman Institute University of Illinois Urbana-Champaign USA Department of Computer Science University of Illinois Urbana-Champaign USA Robotics and Intelligent Systems Group Universidad del Norte Colombia Department of Computer Science Princeton University USA

Spatial-temporal local motion features have shown promising results in complex human action classification. Most of the previous works [6],[16],[21] treat these spatial- temporal features as a bag of video words, omitting any long range, global information in either the spatial or temporal domain. Other ways of learning temporal signature of motion tend to impose a fixed trajectory of the features or parts of human body returned by tracking algorithms. This leaves little flexibility for the algorithm to learn the optimal temporal pattern describing these motions. In this paper, we propose the usage of spatial-temporal correlograms to encode flexible long range temporal information into the spatial-temporal motion features. This results into a much richer description of human actions. We then apply an unsupervised generative model to learn different classes of human actions from these ST-correlograms. KTH dataset, one of the most challenging and popular human action dataset, is used for experimental evaluation. Our algorithm achieves the highest classification accuracy reported for this dataset under an unsupervised learning scheme.

关键词： Humans Cameras Robustness Video sequences computer science Intelligent robots Legged locomotion Feature extraction Intelligent systems Trajectory

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Multi features hybrid Active Shape Model for automated lip contours tracking in video sequence

Multi features hybrid Active Shape Model for automated lip c...

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Applied Imagery Pattern Recognition Workshop (AIPR)

作者： Quoc Dinh Nguyen Maurice Milgram Thi-Hoang-Lan Nguyen Institute of Intelligent Systems and Robotics ISIR-4 University of Pierre and Marie Curie-Paris VI Paris France Institute of Intelligent Systems and Robotics ISIR-4 Pierre and Marie Curie University (paris 6) Paris France Department of Computer Science Hanoi University of Technology Hanoi Vietnam

We propose and evaluate a novel method for enhancing performance of lips contour tracking, which is based on the concept of active shape models (ASM) and multi features. On the first image of the video sequence, lip region is detected using the Bayesian's rule in which lip color information is modeled by a Gaussian mixture model (GMM) which is trained by expectation-maximization (EM) algorithm. The lip region is then used to initialize the lip shape model. A single feature-based ASM presents good performance only in particular conditions but gets stuck in local minima for noisy conditions (like beard, wrinkle, poor texture, low contrast between lip and skin, etc). To enhance the convergence, we propose to use 2 features: normal profile and grey level patches, and combine them with a voting approach. The standard ASM is not able to take into account temporal information from previous frames therefore the lip contours are tracked by replacing the standard ASM with a hybrid active shape model (HASM) which is capable to take advantage of the temporal information. Initial experimental results on video sequences show that MF-HASM is more robust to local minimum problem and gives a higher accuracy than traditional single feature-based method in lip tracking problem.

关键词： Active shape model Video sequences Robustness Active appearance model Mouth Face detection Intelligent robots Lips Voting Hybrid intelligent systems

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