检索结果-内蒙古大学图书馆

International Conference on Intelligent Transportation

作者： H. Vceraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence University of Minnesota Vision and Robotics Laboratory Department of Computer Science and Engineering Artificial Intelligence University of Minnesota USA

The goal of tills project Is to develop a passive vision-based sensing system. The system will be capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera looking at all intersection from an arbitrary position is used. However, for extended applications, multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and situations giving rise to collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the method of Stauffer et at. for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of the blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Monitoring Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Accidents Calibration Gaussian processes

来源：评论

学校读者我要写书评

暂无评论

Fast Landmark Tracking and Localization Algorithm for the Mobile Robot Self-Localization

引用

IFAC Proceedings Volumes 2001年第4期34卷 185-190页

作者： Kuk-Jin Yoon Gi-Jeong Jang Sung-Ho Kim In-So Kweon Robotics and Computer Vision Laboratory Dept. of Electrical Engineering and Computer Science KAIST Korea

We present a simple artificial landmark model and a robust landmark tracking alg orithm for mobile robot localization. The landmark model, consisting of symmetric and repetitive color patches, produces color histograms that are invariant under the geometric and photometric distortions. A stochastic approach based on the CONDENSATION tracks the landmark model robustly even under the varying illumination conditions. After the landmark detection, relative position of the mobile robot to the landmark is calculated. Experimental results show that the proposed landmark model is effective and can be detected and tracked in a cluttered scenerobustly. The tracked single landmark is enough to detennine the position of the robot.

关键词： tracking applications robot vision

来源：评论

学校读者我要写书评

暂无评论

Software mode changes for continuous motion tracking 1st

Software mode changes for continuous motion tracking

引用

1st International Workshop on Self-Adaptive Software, IWSAS 2000

作者： Karuppiah, Deepak Deegan, Patrick Araujo, Elizeth Yang, Yunlei Holness, Gary Zhu, Zhigang Lerner, Barbara Grupen, Roderic Riseman, Edward Dept. of Computer Science Computer Vision Research Laboratory University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Laboratory for Perceptual Robotics University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Lab. for Advanced Software Eng. Research University of Massachusetts AmherstMA01003 United States

ISBN: (纸本)3540416552

Robot control in nonlinear and nonstationary run-time environments presents challenges to traditional software methodologies. In particular, robot systems in "open" domains can only be modeled probabilistically and must rely on run-time feedback to detect whether hardware/software configurations are adequate. Modifications must be effected while guaranteeing critical performance properties. Moreover, in multi-robot systems, there are typically many ways in which to compensate for inadequate performance. The computational complexity of high dimensional sensorimotor systems prohibits the use of many traditional centralized methodologies. We present an application in which a redundant sensor array, distributed spatially over an office-like environment can be used to track and localize a human being while reacting at run-time to various kinds of faults, including: hardware failure, inadequate sensor geometries, occlusion, and bandwidth limitations. Responding at run-time requires a combination of knowledge regarding the physical sensorimotor device, its use in coordinated sensing operations, and high- level process descriptions. We present a distributed control architecture in which run-time behavior is both preanalyzed and recovered empirically to inform local scheduling agents that commit resources autonomously subject to process control specifications. Preliminary examples of system performance are presented from the UMass Self-Adaptive Software (SAS) platform. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Process control

来源：评论

学校读者我要写书评

暂无评论

Robot homing based on corner tracking in a sequence of panoramic images

Robot homing based on corner tracking in a sequence of panor...

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： A.A. Argyros K.E. Bekris S.C. Orphanoudakis Computer Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas FORTH Crete Greece

ISBN: (纸本)0769512720

In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panoramic camera. As the robot departs from its initial position, it tracks characteristic features of the environment (corners). As soon as homing is activated, the robot selects intermediate target positions on the original path. These intermediate positions (IPs) are then visited sequentially, until the home position is reached. For the robot to move between two consecutive IPs, it is only required to establish correspondence among at least three corners. This correspondence is obtained through a feature tracking mechanism. The proposed homing scheme is based on the extraction of very low-level sensory information, namely the bearing angles of corners, and has been implemented on a robotic platform. Experimental results show that the proposed scheme achieves homing with a remarkable accuracy, which is not affected by the distance traveled by the robot.

关键词： Robot kinematics Robot sensing systems Insects Robot vision systems Navigation Orbital robotics computer vision Laboratories computer science Information resources

来源：评论

学校读者我要写书评

暂无评论

A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim In-So Kweon Department of Electrical Engineering and Computer Science Robotics and Computer Vision Laboratory KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.

关键词： Robot vision systems Cameras Calibration Mobile robots Application software computer vision Laboratories computer science Layout Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Complementary linear biases in spatial derivative estimation for improving geometry-driven diffusion processes

Complementary linear biases in spatial derivative estimation...

引用

15th International Conference on Pattern Recognition, ICPR 2000

作者： Toczyski, William D. Papanikolopoulos, Nikolaos P. Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota 4-192 EE/CS Bldg. 200 Union Street SE MinneapolisMN55455 United States

ISBN: (纸本)0769507506

This paper introduces a broadly applicable technique for visibly improving the digitized, grey-level outputs produced by a host of iterative geometric diffusion methods. By replacing standard, central-difference estimates of discrete spatial gradients with alternating image derivative estimates that are offset by known, complementary biases, errors accumulated during iteration are reduced and the quality of geometric diffusions is improved. This unexpected synergy occurs at no added computational cost over central difference methods. Very simple to implement, the innovation is introduced at the level of spatial derivatives;hence, for a given process, any derived higher level mathematical properties - for example, group invariance or scale-space properties - can be preserved. © 2000 IEEE.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Counting bicycles using computer vision

Counting bicycles using computer vision

引用

International Conference on Intelligent Transportation

作者： S. Rogers N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

This paper describes a system for monitoring bicycle activity in sequences of gray scale images acquired by a stationary camera. The system is suitable for use in applications that aim to increase the efficiency and safety of existing traffic systems. One such application is to determine usage and congestion of bicycle path. The output of the system is a count of the number of bicycles detected in the image sequence. The system is model-based in the sense that it uses a simple model of two circular objects separated by a relatively known distance. Our system uses four levels of abstraction: raw images, blobs, edge images, and the bicycle model. The system was implemented on a dual Pentium computer equipped with a Matrox imaging board and achieved a peak performance of 8 frames per second. Experimental results based on outdoor scenes have shown promising results for a variety of weather conditions.

关键词： Bicycles computer vision Application software computerized monitoring Cameras Safety Traffic control Image sequences Image edge detection Layout

来源：评论

学校读者我要写书评

暂无评论

Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

来源：评论

学校读者我要写书评

暂无评论

Complementary linear biases in spatial derivative estimation for improving geometry-driven diffusion processes

Complementary linear biases in spatial derivative estimation...

引用

International Conference on Pattern Recognition

作者： W.D. Toczyski N.P. Papnikolopoulos Artificial Intelligence Robotics vision laboratory Department of computer science and Engineering University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

ISBN: (纸本)0769507506

This paper introduces a broadly applicable technique for visibly improving the digitized, grey-level outputs produced by a host of iterative geometric diffusion methods. By replacing standard, central-difference estimates of discrete spatial gradients with alternating image derivative estimates that are offset by known, complementary biases, errors accumulated during iteration are reduced and the quality of geometric diffusions is improved. This unexpected synergy occurs at no added computational cost over central difference methods. Very simple to implement, the innovation is introduced at the level of spatial derivatives; hence, for a given process, any derived higher level mathematical properties-for example, group invariance or scale-space properties-can be preserved.

关键词： Anisotropic magnetoresistance Equations Geometry Image motion analysis Optical filters Pixel Diffusion processes Artificial intelligence Intelligent robots Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

Face model adaptation with active tracking

Face model adaptation with active tracking

引用

IEEE International Conference on Image Processing

作者： Lijun Yin A. Basu Computer Vision and Robotics Research Laboratory Department of Computing Science University of Alberta Edmonton AB Canada

A system for face model adaptation combining active tracking is presented. Input from an active camera is used for MPEG4 model based coding. First, the background is compensated considering a moving camera (tilt or pan). Second, the talking face is segmented from the compensated background using fusion of frame differences. A morphological filter is then applied to make the system less sensitive to noise. Third, Hough transform and deformable template coupled with color information are exploited to detect the facial features, e.g., eyes, mouth. Fourth, a wireframe model is adapted to the extracted face by an extended dynamic mesh. The feasibility of the proposed system is demonstrated using several real active video sequences.

关键词： Adaptation model Face detection Cameras MPEG 4 Standard Filters Colored noise Facial features Eyes Mouth Data mining

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：