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Recognition of 2D shapes through contour metamorphosis

Recognition of 2D shapes through contour metamorphosis

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Singh I. Pavlidis N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

A novel method for 2D shape recognition is proposed. The method employs as a dissimilarity measure the degree of morphing between a test shape and a reference shape. A physics-based approach substantiates the degree of morphing as a deformation energy and casts the problem as an energy minimization problem. The method operates upon key segmentation points that are provided by an appropriate segmentation algorithm. The recognition paradigm is invariant to translation, rotation, and scaling. It can handle both convex and non-convex shapes. The proposed system exhibits robust recognition behavior and real-time performance in a series of experiments. The experiments also highlight the ability of the method to recognize deformable shapes.

关键词： Shape Wire Testing Defense industry Image recognition Optical character recognition software Character recognition Animation Artificial intelligence Intelligent robots

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A metamorphosis-based shape recognition method

A metamorphosis-based shape recognition method

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International Conference on Digital Signal Processing (DSP)

作者： R. Singh J. Pavlidis N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

We present a framework for matching and recognition of planar shapes based on a method from computer graphics based animation, called "shape metamorphosis". In our approach, the "degree of morphing" between two shapes is employed as a dissimilarity measure. A physics-based energy minimization approach is used for optimally computing the "degree of morphing". This measure is shown to have metric properties and invariance to translation, rotation, scaling and mirror symmetry. Experimentations in the recognition of planar shapes, hand-drawn figures, and online cursive words indicate the robustness of the recognition paradigm.

关键词： Shape measurement Optical character recognition software Hidden Markov models Artificial intelligence Intelligent robots Robot vision systems Laboratories computer science Mirrors Robustness

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Eye-tracking for detection of driver fatigue

Eye-tracking for detection of driver fatigue

引用

International Conference on Intelligent Transportation

作者： M. Eriksson N.P. Papanikotopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

In this paper, we describe a system that locates and tracks the eyes of a driver. The purpose of such a system is to perform detection of driver fatigue. By mounting a small camera inside the car, we can monitor the face of the driver and look for eye-movements which indicate that the driver is no longer in condition to drive. In such a case, a warning signal should be issued. This paper describes how to find and track the eyes. We also describe a method that can determine if the eyes are open or closed. The primary criterion for the successful implementation of this system is that it must be highly nonintrusive. The system should start when the ignition is turned on without having the driver initiate the system. Nor should the driver be responsible for providing any feedback to the system. The system must also operate regardless of the texture and the color of the face. It must also be able to handle diverse conditions, such as changes in light, shadows, reflections, etc.

关键词： Fatigue Eyes Face detection Accidents Face recognition Real time systems Artificial intelligence Intelligent robots Robot vision systems Laboratories

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Real-time vehicle following through a novel symmetry-based approach

Real-time vehicle following through a novel symmetry-based a...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

This paper describes a novel approach to real-time vehicle following. A scheme, called "symmetry axis detection and filtering based on symmetry constraints", is proposed and has been implemented. This scheme incorporates many elements of our research efforts in sensor-based control of mobile robots and manipulators. The proposed algorithm detects and tracks the rear portion of the exterior of a leading vehicle via a camera mounted on a vehicle that belongs to a platoon. Our scheme uses the symmetry property of the shape of most vehicles. In particular, our technique takes advantage of the stable contour symmetry instead of the intensity symmetry. An algorithm that employs a voting technique is proposed in order to detect the vertical symmetry axis of the leading vehicle. A filtering method based on symmetry constraints is performed to eliminate the pixels which do not contribute to the leading vehicle's contour. As a result of the filtering, a distinct symmetric contour is obtained. Robustness and real-time performance of the symmetry-based scheme are greatly enhanced by using an adaptive processing window, the local symmetry properties, and a filtering procedure.

关键词： Filtering Vehicle detection Robot control Mobile robots Manipulators Robot vision systems Cameras Shape Voting Robustness

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Determining the skeletal description of sparse shapes

Determining the skeletal description of sparse shapes

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

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

A variety of techniques in machine vision involve representation of objects by using their shape skeleton. In this paper we present a method to obtain the skeletal shape of binary images in the presence of both boundary noise and noise occurring inside object regions. We propose to obtain the skeletal shape of such images by a modified version of the Kohonen self-organizing map, implemented in a batch processing mode. The modifications allow the map to adapt to the input shape distribution. At each iteration, a competitive Hebbian rule is used to progressively compute the Delaunay triangulation of the shape. Information from the triangulation augments the map topology to yield the final skeletal shape. The batch mode implementation of the self-organizing process, allows our approach to compare very favourably, in terms of computational time, with the traditional flowthrough implementations. Encouraging experimental performance has been obtained on a variety of shapes under varying signal to noise ratios.

关键词： Shape Noise shaping Skeleton Intelligent robots Machine vision computer vision Noise level Noise figure Machine intelligence Robot vision systems

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The area bisectors of a polygon and force equilibria in programmable vector fields 97

The area bisectors of a polygon and force equilibria in prog...

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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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vision-guided robotic grasping: issues and experiments

Vision-guided robotic grasping: issues and experiments

引用

IEEE International Conference on robotics and Automation (ICRA)

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

Many researchers have turned to sensing, and in particular computer vision, to create more flexible robotic systems. computer vision is often required to provide data for the grasping of a target. Using a vision system for grasping presents several issues with respect to sensing, control, and system configuration. This paper presents some of these issues in concert with the options available to the researcher and the trade-offs to be expected when integrating a vision system with a robotic system for the purpose of grasping objects. The paper includes experimental results from a particular configuration that characterize the type and frequency of errors encountered while performing various vision-guided grasping tasks. These error classes and their frequency of occurrence lend insight into the problems encountered during visual grasping and into the possible solution of these problems.

关键词： Robot vision systems Robot sensing systems Control systems Robot kinematics Intelligent robots computer vision Machine vision Frequency Sensor systems Cameras

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Automatic selection of control points for deformable-model-based target tracking

Automatic selection of control points for deformable-model-b...

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IEEE International Conference on robotics and Automation (ICRA)

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

A novel curve segmentation algorithm for determining control points for deformable-model-based target tracking is proposed. The algorithm is parameterless enabling a fully-fledged automated tracking regardless of the shape of the object being tracked. Compared with other curve segmentation algorithms, it selects a minimal number of control points that yet deliver a superior shape description. The algorithm is comparatively tested with other curve segmentation algorithms in a variety of characteristic target outlines.

关键词： Automatic control Target tracking Deformable models Shape control Intelligent robots Testing Artificial intelligence Robot vision systems robotics and automation Laboratories

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems Laboratories computer science Nanofabrication Uniform resource locators

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Moving furniture with teams of autonomous robots

Moving furniture with teams of autonomous robots

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Rus B. Donald J. Jennings Department of Computer Science Robotics Laboratory Hanover NH USA Department of Computer Science Robotics and Vision Laboratory Cornell University Ithaca NY USA

The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ask whether planning, global control, and explicit communication are necessary for cooperatively changing the pose of objects. The authors answer in the negative and present, as witnesses, four cooperative manipulation protocols that use different amounts of state, sensing, and communication. The authors analyze these protocols in the information invariant framework. The authors formalize the notion of resource tradeoffs for robot protocols and give the tradeoffs for the specific protocols discussed here.

关键词： Protocols Orbital robotics Robot sensing systems Robotic assembly Solid modeling computer science Laboratories Mobile robots Shape Parallel robots

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