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IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781479973989

Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on the dataset which we established demonstrate the effectiveness of our method.

关键词： Hidden Markov models Gesture recognition Training Conferences Trajectory Arrays

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Path planning with Multiple Rapidly-exploring Random Trees for teams of robots

Path planning with Multiple Rapidly-exploring Random Trees f...

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2013 16th International Conference on Advanced robotics, ICAR 2013

作者： Alves Neto, Armando Macharet, Douglas Chaimowicz, Luiz Campos, Mario Telecommunication and Mechatronic Department Universidade Federal de São João Del-rei Campus Alto Paraopeba Brazil Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Brazil

ISBN: (纸本)9781479927227

This paper addresses the problem of real-time planning and control of a group of aerial vehicles flying in environments with obstacles and subject to disturbances and *** present a novel methodology to the coordination of multiple vehicles based on a classical technique known as Closed Loop Rapidly-exploring Random Trees (CL-RRT). We use a distributed processing framework and communication to optimize the plans being executed by each agent of the team, providing better solutions to the execution step of the CL-RRT. This technique endows each agent with the capability to navigate through the environment while avoiding collisions with obstacles as well as with other team agents. The keypoint is a prediction scheme executed by each robot that infers the behavior of the entire team at each time step. We show the applicability of the method by planning and executing waypoint navigation tasks for a group of Micro Unmanned Aerial Vehicles (MUAVs) - modelled in SE(3) - in outdoor environments. © 2013 IEEE.

关键词： Motion planning

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Vanishing point detection for CCTV in railway stations

Vanishing point detection for CCTV in railway stations

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5th International Conference on Imaging for Crime Detection and Prevention, ICDP 2013

作者： Tarrit, K. Atkinson, G.A. Smith, M.L. Molleda, J. Wright, G.C. Gaal, P. Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Department of Computer Science and Engineering University of Oviedo Spain Aralia Systems Ltd. Horsham United Kingdom

ISBN: (纸本)9781849199049

Vanishing point (VP) detection is an important task in computer vision with particular importance in video surveillance. However, despite having numerous applications in camera calibration, 3D reconstruction and threat detection, a general method for VP detection has remained elusive. Rather than attempting the infeasible task of VP detection in general scenes, this paper presents a novel method that is fine-tuned to work for railway station environments and is shown to outperform the state-of-the-art for that particular case. The motivation for this is that (a) these environments are particularly susceptible to many types of crime from petty theft to terrorist activity, (b) the number of objects/structures in the scenes are limited, rendering the problem more tractable than the generic case, and (c) they typically have many CCTV cameras already installed. The method presented here commences by extracting edges from the input frame using the Canny edge detector as a pre-processing stage before the standard Hough transform is employed. A novel line clustering algorithm is then applied to determine the parameters of the lines that converge at VPs. This is based on statistics of the detected lines and heuristics about the type of scene. The clustered lines are then used to compute VPs using their intersection points. A voting system is used to optimise detection in an attempt to omit spurious lines. The paper includes a direct comparison to the state-of-the-art and ground truth.

关键词： Subway stations

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Path planning with Multiple Rapidly-exploring Random Trees for teams of robots

Path planning with Multiple Rapidly-exploring Random Trees f...

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International Conference on Advanced robotics (ICAR)

作者： Armando Alves Neto Douglas Macharet Luiz Chaimowicz Mario Campos Telecommunication and Mechatronic Department Universidade Federal de São João Del-rei Campus Alto Paraopeba Brazil Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Brazil

关键词： Robot kinematics Planning Vehicles Collision avoidance Mathematical model Vectors

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Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature

Efficient Target Visiting Path Planning for Multiple Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando Alves Neto Vilar F. da Camara Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (VeRLab) Computer Science Department Universidade Federal de Minas Gerais MG Brazil. Telecommunication and Mechatronic Department Universidade Federal de S?o Jo?o del-Rei MG Brazil. Funda??o Centro de Análise Pesquisa e Inova??o Tecnológica (FUCAPI) Manaus AM Brazil.

ISBN: (纸本)9781467363563

In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.

关键词： Bounded Curvature k-DTSPN bounded curvature constraints (Dubins vehicles) Cooperating robots vehicle formal analysis Curvature Bounded Path planning Upper bound Heuristics Targets travelling salesman problems

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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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Planning for Simultaneous Localization and Mapping Using Topological Information

Planning for Simultaneous Localization and Mapping Using Top...

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IEEE Latin American robotics Symposium, LARS

作者： Rafael Gonçalves Colares Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.

关键词： Navigation Simultaneous localization and mapping Robot kinematics Planning Skeleton

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Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

Mobile Robot Localization in Indoor Environments Using Multi...

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IEEE Latin American robotics Symposium, LARS

作者： Moisés Lisboa Rodrigues Luiz Filipe M. Vieira Mario F. M. Campos Vision and Robotics Laboratory (VerLab) Computer Science Department Universidade Federal de Minas Gerais Brazil

Localization is a fundamental problem that arises in many potential applications. The use of wireless technologies to perform localization has been a trend in recent years. Most existing approaches use the received signal strength indication (RSSI) to localize. In general, one of the several existing wireless standards such as ZigBee, Bluetooth or Wi-Fi, is chosen as the target standard. In this paper we present an experimental study on the use of multiple wireless technologies to perform mobile robot localization in indoor environments. We use real ZigBee and Wi-Fi compliant devices. In our study we analyse results obtained by fusing robot odometry data with distance estimations between the robot and wireless beacons. These distances are estimated based on the RSSI obtained from radio frequency (RF) signals received from those technologies compliant devices. The extended kalman filter (EKF) is used to fuse these information. We show that robots equipped with multiple wireless interfaces from different technologies can achieve better localization in regions where the coverage of one technology is reduced (e.g., we show that the robot can maintain a reasonable localization accuracy even in areas where Wi-Fi coverage is very poor, due to the presence of Zigbee sensor nodes). We also present a discussion of advantages and challenges of using multiple wireless technologies to perform localization in indoor environments.

关键词： IEEE 802.11 Standards Wireless communication Wireless sensor networks Robot sensing systems Zigbee Mathematical model

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Navigation of uncertain terrain by fusion of information from real and synthetic imagery

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Proceedings of SPIE - The International Society for Optical Engineering 2012年 8407卷

作者： Lyons, Damian M. Nirmal, Paramesh Paul Benjamin, D. Fordham University Robotics and Computer Vision Laboratory Bronx NY 10458 United States Pace University Department of Computer Science New York NY 10023 United States

ISBN: (纸本)9780819490858

We consider the scenario where an autonomous platform that is searching or traversing a building may observe unstable masonry or may need to travel over unstable rubble. A purely behaviour-based system may handle these challenges but produce behaviour that works against long-terms goals such as reaching a victim as quickly as possible. We extend our work on ADAPT, a cognitive robotics architecture that incorporates 3D simulation and image fusion, to allow the robot to predict the behaviour of physical phenomena, such as falling masonry, and take actions consonant with long-term goals. We experimentally evaluate a cognitive only and reactive only approach to traversing a building filled with various numbers of challenges and compare their performance. The reactive only approach succeeds only 38% of the time, while the cognitive only approach succeeds 100% of the time. While the cognitive only approach produces very impressive behaviour, our results indicate how much better the combination of cognitive and behaviour-based can be. © 2012 SPIE.

关键词： Robots

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

作者： Corpuz, Francis James Naval, Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Department of Computer Science College of Engineering University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Special Projects Laboratory Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781457720895

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment. © 2012 IEEE.

关键词： Reefs

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