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International Conference on Information Intelligence and Systems

The article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration.

关键词： Shape control Robot control Shape measurement Object recognition Physics Deformable models Motion control Manipulators Calibration Humans

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Shape recognition and vision-based robot control by shape morphing

Shape recognition and vision-based robot control by shape mo...

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1999 International Conference on Information Intelligence and Systems, ICIIS 1999

作者： Singh, Rahul Voyles, Richard M. Littau, David Papanikolopoulos, Nikolaos P. Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States Bio-Informatics Division Exelixis Pharmaceuticals 280 E. Grand Avenue So. San FranciscoCA94080 United States

ISBN: (纸本)0769504469

In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration. © 1999 IEEE.

关键词： Object recognition

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Planning of regrasp operations

Planning of regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science Process control Manipulators Production

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vision-based monitoring of weaving sections

Vision-based monitoring of weaving sections

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International Conference on Intelligent Transportation

作者： O. Masoud N.P. Papanikolopoulos E. Kwon Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Center for Transportation Studies University of Minnesota Minneapolis MN USA

This paper presents algorithms for vision-based monitoring of weaving sections. These algorithms have been developed for the Minnesota Department of Transportation in order to acquire data for several weaving sections in the Twin Cities Area. Unlike commercially available systems, the proposed algorithms can track and count vehicles as they change lanes. Furthermore, they provide the velocity and the direction of each vehicle in the weaving section. Experimental results from various weaving sections with various weather conditions are presented. The proposed methods are based on the establishment of correspondences among blobs and vehicles as the vehicles move through the weaving section. The blob tracking problem is formulated as a bipartite graph optimization problem.

关键词： Weaving Traffic control computerized monitoring Road vehicles Road transportation Vehicle detection Data mining Space vehicles Layout Artificial intelligence

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Progress on the deictically controlled wheelchair

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Lecture Notes in computer science

作者： Crisman, Jill D. Cleary, Michael E. Robotics and Vision Systems Laboratory Dept. of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States College of Computer Science Northeastern University Boston MA 02115 United States

ISBN: (纸本)9783540647904

We aim to develop a robot which can be commanded simply and accurately, especially by users with reduced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared between the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sensors have been developed. These and other advances are discussed, as well as planned work. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Robots

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Pose alignment of an eye-in-hand system using image morphing

Pose alignment of an eye-in-hand system using image morphing

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Positioning an eye-in-hand robotic system with respect to a static target is a challenging research problem since it involves recognition of the object and the desired pose at which alignment is to occur, planning a trajectory for the robot to attain this pose, and careful calibration of the system and the environment. In this paper we introduce a unified framework based on image morphing, to address the above problems and apply it to the task of translational and rotational alignment of an eye-in-hand system to planar objects or planar projections of 3D objects. In our method the desired manipulator pose for each object is defined and stored as a view of the object taken from this pose. The identity of an unknown object in the workspace is established by morphing its image to the views in the database, and using a quantification of the morph as a dissimilarity measure. The synthetic images generated during the morph are used guide an eye-in-hand system to the desired pose. The framework can accommodate partially occluded or deformable targets and smooth trajectories can be generated since an arbitrary number of intermediate images can be used.

关键词： Calibration Robot vision systems Error correction Trajectory Artificial intelligence Intelligent robots Laboratories computer science Target recognition Image databases

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Letter-level shape description by skeletonization in faded documents

Letter-level shape description by skeletonization in faded d...

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IEEE Workshop on Applications of computer vision (WACV)

作者： R. Singh M.C. Wade N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We present a method for determining the skeletal shape description for letters in texts faded due to ageing and/or poor ink quality. The proposed algorithm is interesting in that it neither involves assumptions about demarcation of object regions from the background, nor does it require pixel connectivity in the text regions. Consequently, it may be applied for obtaining the shape descriptions of "sparse" regions, which are characteristic of letters in faded documents. Given the pixel distribution for a letter or a word from a faded document, the method involves an iterative evolution of a piecewise-linear approximation of the principal curve of this pixel distribution. By constraining the principal curve to lie on the edges of the Delaunay triangulation of the shape distribution, the adjacency relationships between regions in the shape can be detected and used in evolving the skeleton. The approximation of the principal curve, on convergence, gives the final skeletal shape. The skeletonization is invariant to Euclidean transformations and is adaptive in terms of the topology of the underlying shape distribution as well as in the number of units needed for the piece-wise approximation of the principal curve.

关键词： Shape Skeleton Text analysis Degradation Aging Artificial intelligence Intelligent robots Robot vision systems Laboratories Ink

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Information invariants for distributed manipulation

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INTERNATIONAL JOURNAL OF robotics RESEARCH 1997年第5期16卷 673-702页

作者： Donald, BR Jennings, J Rus, D Robotics and Vision Laboratory Department of Computer Science Cornell University Ithaca New York USA

In Donald (1995), we described a manipulation task for cooperating mobile robots that can push large, heavy objects. There, we asked whether explicit local and global communication between the agents can be removed from a family of pushing protocols. In this article, we answer in the affirmative. We do so by using the general methods of Donald (1995), analyzing information invariants. We discuss several measures for the information complexity of the task: (I) How much internal state should the robot retain? (2) How many cooperating agents are required, and how much communication between them is necessary? (3) How can the robot change (side effect) the environment to record state or sensory information for performing a task? (4) How much information is provided by sensors? and (5) How much computation is required by the robot? To answer these questions, we develop a notion of information invariants. We develop a technique whereby one sensor can be constructed from others by adding, deleting and reallocating I) through 5), among collaborating autonomous agents. We add a resource to measures I) through 5) and ask: 6) How much information is provided by the task mechanics? By answering this question, we hope to develop information invariants that explicitly tradeoff resource 6) with resources I) through 5). The protocols we describe here have been implemented in several different forms, and we report on experiments to measure and analyze information invariants using a pair of cooperating mobile robots for manipulation experiments in our laboratory.

关键词： Agents pushing Global communication Sensors Invariant Robot Mobile robots

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Robust pedestrian tracking using a model-based approach

Robust pedestrian tracking using a model-based approach

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International Conference on Intelligent Transportation

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

This paper presents a real-time system for pedestrian tracking in sequences of grayscale images acquired by a stationary CCD camera. The objective is to integrate this system with a pedestrian control scheme for intersections. The system outputs the spatio-temporal coordinates of each pedestrian during the period the pedestrian is in the scene. Processing is done at three levels: raw images, blobs, and pedestrians. Our method models pedestrians as rectangular patches with a certain dynamic behavior. Kalman filtering is used to estimate pedestrian parameters. The system was implemented on a Datacube MaxVideo 20 equipped with a Datacube Max860 and was able to achieve a peak performance of over 20 frames per second. Experimental results based on indoor and outdoor scenes demonstrated the system's robustness under many difficult situations such as partial and full occlusions of pedestrians.

关键词： Robustness Layout Real time systems Gray-scale Charge coupled devices Charge-coupled image sensors Control systems Kalman filters Filtering Parameter estimation

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