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检索条件"机构=Computer Science Robotics and Vision Laboratory"

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Rotational legged locomotion

Rotational legged locomotion

引用

International Conference on Advanced robotics (ICAR)

作者： D.M. Lyons K. Pamnany Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY USA

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report on experiments conducted to characterize stepping

关键词： Legged locomotion Leg Mobile robots Wheels Vehicles Energy efficiency Prototypes Propulsion Weight control Robot control

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Rank-based multisensory fusion in multitarget video tracking

Rank-based multisensory fusion in multitarget video tracking

引用

IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： D.M. Lyons D.F. Hsu Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY USA

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in fusion produces a significantly better tracking result in crowded scenes. We also present a formalization of this fusion problem as a step in understanding why this effect occurs and how to build a tracking system that exploits it.

关键词： Target tracking Layout Voting computer vision Shape Merging Bayesian methods Robot sensing systems Robot vision systems Laboratories

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

引用

IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems computer vision Laboratories Image sequences Scalability

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Throat microphone signal for speaker recognition 8

Throat microphone signal for speaker recognition

引用

8th International Conference on Spoken Language Processing, ICSLP 2004

作者： Shahina, A. Yegnanarayana, B. Kesheorey, M.R. Speech and Vision Laboratory Department of Computer Science and Engg. Indian Institute of Technology Madras Chennai600 036 India Center for Artificial Intelligence and Robotics Bangalore560 001 India

Speaker recognition systems perform better when clean speech signals are used for the task. In the presence of high levels of background noise, speech recorded from a close speaking microphone will be degraded and hence the performance of the speaker recognition system. Use of a transducer held at the throat results in a signal that is clean even in a noisy environment. This paper discusses the prospect of using such signals for speaker recognition. A study of a text-independent speaker recognition system based on features extracted from speech simultaneously recorded using a throat microphone and a close-speaking microphone in clean and simulated noisy conditions is conducted. Autoassociative neural networks are used to model the speaker characteristics based on the vocal tract system and excitation source features represented by weighted linear prediction cepstral coefficients and linear prediction residual, respectively. The results of experimental studies show that the speech collected from the throat microphone can be used for tasks like speaker recognition, especially in noisy conditions.

关键词： Microphones

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Human perception based color image quantization

Human perception based color image quantization

引用

International Conference on Pattern Recognition

作者： Kuk-Jin Yoon In-So Kweon Department of Electric Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea

ISBN: (纸本)0769521282

We present a new algorithm for color image quantization based on human color perception properties. We construct two kinds of map by analyzing the spatial color distributions to take account of the human visual system: homogeneity map (H-map) and distinctiveness map (D-map). Then, we assign weight value to all color vectors by combining these maps to consider two factors at the same time. To extract representative colors, we define a new cost function and use the LKMA (local k-means algorithm) with weighted color vectors. In this stage, we utilize an incremental splitting scheme with a penalty term to determine optimal number of clusters adaptively. The experimental results show that the proposed algorithm reproduces an image preserving significant local features while removing unimportant details of an original image from the viewpoint of human.

关键词： Humans Quantization Clustering algorithms Image color analysis Visual system Cost function Image segmentation Distortion measurement Robot vision systems computer vision

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Cascaded filter approach to multi-objective control

Cascaded filter approach to multi-objective control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Thibodeau S.W. Hart D.R. Karuppiah J.D. Sweeney O. Brock Laboratory for Perceptual Robotics Computer Science Department University of Massachusetts Amherst USA Computer Vision Laboratory University of Massachusetts Amherst USA

In this paper we propose a new approach for multi-objective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is motivated by other control methods that prevent destructive control interactions through null space projections. We apply this approach to a practical leader/follower task in which a mobile robot must address the conflicting objectives of moving to a goal position while avoiding obstacles and keeping a region of the workspace within the field of view of a fixed camera mounted on the platform. We experimentally verify our approach using the Segway Robotic Mobility Platform (RMP), a dynamically stable, differential drive mobile robot.

关键词： Filters Robot kinematics Null space Mobile robots Laboratories Robot vision systems Control systems Cameras Decision making Orbital robotics

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

引用

The Fourteenth International Offshore and Polar Engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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A vision-based haptic exploration

A vision-based haptic exploration

引用

2003 IEEE International Conference on robotics and Automation

作者： Tanaka, Hiromi T. Kushihama, Kiyotaka Ueda, Naoki Hirai, Shin-Ichi Computer Vision Laboratory Computer Science Dept. Ritsumeikan University Ritsumeikan Japan Robotics Department Ritsumeikan University Ritsumeikan Japan

Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surf ace feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties ax mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic *** is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, elational constraints estimation and elasticity, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.

关键词： robotics

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A vision-based haptic exploration

A vision-based haptic exploration

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IEEE International Conference on robotics and Automation (ICRA)

作者： H.T. Tanaka K. Kushihama N. Ueda S. Hirai Computer Vision Laboratory Computer Science Department Ritsumeikan University Japan Robotics Department Ritsumeikan University Japan

Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surface feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties as mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic vision,which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, relational constraints estimation and elasticity, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.

关键词： Haptic interfaces Robot vision systems Robot sensing systems Solid modeling Elasticity Friction Shape control robotics and automation Humans Machine vision

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Using intrinsic images for shadow handling

Using intrinsic images for shadow handling

引用

International Conference on Intelligent Transportation

作者： R.F.K. Martin O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Laboratory Department of Computer Science and Engineering University of Minnesota USA

The ability to detect shadows is a critical feature of any intelligent transportation system (ITS). The improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. As vision-based ITS applications are becoming more popular, it is important to minimize the effects of shadows. Here, we present a novel method for shadow handling in a sequence of images. Following recent work motivated by studies of the statistics of natural images, we show that this new method is a reliable detector of shadows and can be easily implemented in real-time.

关键词： Intelligent transportation systems Vehicle detection Artificial intelligence Intelligent robots Vehicles Layout Magnetic analysis computerized monitoring computer vision Image edge detection

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