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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8864卷 457-468页

作者： Macharet, Douglas G. Campos, Mario F.M. Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Belo HorizonteMG Brazil

In this paper we deal with the DTSP, which is the optimization problem where a path that goes through a set of two-dimensional points must be calculated considering the use of robots modeled as Dubins vehicles. Assuming that the sequence of visits is initially obtained accordingly to the ETSP, we propose an heuristic to assign orientations for each point in order to achieve a path which is length minimized and respects the vehicle’s nonholonomic constraints. The heuristic takes into account the vehicle’s minimum turning radius and distance between neighbors points to proportionally adjust the orientation on each point, allowing the definition of shorter Dubins curves connecting them. The methodology was horoughly evaluated through numerous trials in different simulated scenarios, providing statistical examination of the final results. © Springer International Publishing Switzerland 2014.

关键词： Vehicles

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Balanced optical flow refinement by bidirectional constraint

Balanced optical flow refinement by bidirectional constraint

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作者： Choi, Jongwon Kim, Hyeongwoo Oh, Tae-Hyun Kweon, In So Robotics and Computer Vision Laboratory Korea Advanced Institute of Science and Technology Korea Republic of

ISBN: (纸本)9781479957514

We present an efficient optical flow refinement approach based on a bidirectional flow consistency. Our method is an add-on component that improves the existing optical flow estimation to be balanced between forward and backward flows. Most of the state-of-the-art optical flow methods only consider unidirectional motion vectors from a source image to a target image, which can make the estimated flow inconsistent with its backward estimation. The inconsistency can be reduced by considering the bidirectional motion when the optical flow is estimated, but it would be very hard for most of the typical optical flow methods and impossible for some of them. To solve this problem, we propose a sampling-based optimization method for efficiently refining the optical flows with a bidirectional constraint. By evaluating on Middle-bury benchmark and public large displacement datasets, we validate the effectiveness of our method quantitatively and qualitatively and for accuracy. © 2014 IEEE.

关键词： Optical flows

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Evolutionary Quasi-random Search for Hand Articulations Tracking

Evolutionary Quasi-random Search for Hand Articulations Trac...

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IEEE Conference on computer vision and Pattern Recognition

作者： Iason Oikonomidis Manolis I. A. Lourakis Antonis A. Argyros Computational Vision and Robotics Laboratory Institute of Computer Science

ISBN: (纸本)9781479951192

We present a new method for tracking the 3D position, global orientation and full articulation of human hands. Following recent advances in model-based, hypothesize-and-test methods, the high-dimensional parameter space of hand configurations is explored with a novel evolutionary optimization technique specifically tailored to the problem. The proposed method capitalizes on the fact that samples from quasi-random sequences such as the Sobol have low discrepancy and exhibit a more uniform coverage of the sampled space compared to random samples obtained from the uniform distribution. The method has been tested for the problems of tracking the articulation of a single hand (27D parameter space) and two hands (54D space). Extensive experiments have been carried out with synthetic and real data, in comparison with state of the art methods. The quantitative evaluation shows that for cases of limited computational resources, the new approach achieves a speed-up of four (single hand tracking) and eight (two hands tracking) without compromising tracking accuracy. Interestingly, the proposed method is preferable compared to the state of the art either in the case of limited computational resources or in the case of more complex (i.e., higher dimensional) problems, thus improving the applicability of the method in a number of application domains.

关键词： Computational modeling Optimization Kinematics Tracking Joints Accuracy Linear programming

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BALANCED OPTICAL FLOW REFINEMENT BY BIDIRECTIONAL CONSTRAINT

BALANCED OPTICAL FLOW REFINEMENT BY BIDIRECTIONAL CONSTRAINT

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IEEE International Conference on Image Processing

作者： Jongwon Choi Hyeongwoo Kim Tae-Hyun Oh In So Kweon Robotics and Computer Vision Laboratory Korea Advanced Institute of Science and Technology

ISBN: (纸本)9781479957521

We present an efficient optical flow refinement approach based on a bidirectional flow consistency. Our method is an add-on component that improves the existing optical flow estimation to be balanced between forward and backward flows. Most of the state-of-the-art optical flow methods only consider unidirectional motion vectors from a source image to a target image, which can make the estimated flow inconsistent with its backward estimation. The inconsistency can be reduced by considering the bidirectional motion when the optical flow is estimated, but it would be very hard for most of the typical optical flow methods and impossible for some of them. To solve this problem, we propose a sampling-based optimization method for efficiently refining the optical flows with a bidirectional constraint. By evaluating on Middlebury benchmark and public large displacement datasets, we validate the effectiveness of our method quantitatively and qualitatively and for accuracy.

关键词： Optical flow Bidirectional constraint Particle filter-based optimization

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROscience 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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RGBD sensor and mirrors: A practical setup for 3D reconstruction of dynamic objects

RGBD sensor and mirrors: A practical setup for 3D reconstruc...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Min-Hyun Kim Jaesik Park In So Kweon Robotics and Computer Vision Laboratory KAIST Daejeon Korea Korea Advanced Institute of Science and Technology Daejeon Daejeon KR

ISBN: (纸本)9781479953349

In order to get full 3D model from consumer depth cameras, previous approaches used set of synchronized depth cameras or moved the depth sensor around the target object. This on-going work introduces a cost effective and convenient framework for filming dynamic 3D object. This set is comprised of a consumer depth camera, or RGBD sensor and a pair of mirrors. Because of the images reflected from two mirrors in the system, it can capture a depth-map of the target object in an extended view. The practicality and effectiveness of this framework is demonstrated.

关键词： Three-dimensional displays Mirrors Robot sensing systems Cameras Mathematical model Equations Joints

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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A novel feature extracting method for dynamic gesture recognition based on support vector machine

A novel feature extracting method for dynamic gesture recogn...

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International Conference on Information and Automation (ICIA)

作者： Yuanrong Xu Qianqian Wang Xiao Bai Yen-Lun Chen Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the variation of orientation angles, and the other criterion is the order of the appearance of features. Experimental results show that this method can classify the dynamic hand gestures effectively.

关键词： Vectors Trajectory Feature extraction Equations Mathematical model Hidden Markov models Automation

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