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Custom Integrated Circuits Conference (CICC)

作者： K. Nakamura M. Hotta R. Carley D. Allstot Central Res. Lab. Hitachi Ltd. Tokyo Japan Functional Devices Department Central Research Laboratory Hitachi and Limited Tokyo Japan Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The design of a low-power, 10-bit 40-Ms/s ADC integrated in 0.8-/spl mu/m multi-threshold CMOS is presented. This fully differential design employs a decimated parallel combination of single-bit and multi-bit per stage pipelined architectures to achieve this performance. The ADC, targeted for high resolution video terminals, dissipates 85-mW from 2.7-V supply, and occupies an area of 1.9 by 2.1-mm/sup 2/.< >

关键词： Parallel architectures Pipeline processing Analog-digital conversion Power dissipation Interleaved codes computer architecture Bandwidth Circuits Laboratories Machine vision

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SIGNIFICANT LINE SEGMENTS FOR AN INDOOR MOBILE ROBOT

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1993年第6期9卷 801-815页

作者： LEBEGUE, X AGGARWAL, JK Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

New algorithms for detecting and interpreting linear features of a real scene as imaged by a single camera on a mobile robot are described. The low-level processing stages are specifically designed to increase the usefulness and the quality of the extracted features for indoor scene understanding. In order to derive 3-D information from a 2-D image, we consider only lines with particular orientations in 3-D. The detection and interpretation processes provide a 3-D orientation hypothesis for each 2-D segment. This in turn is used to estimate the robot's orientation and relative position in the environment. Next, the orientation data is used by a motion stereo algorithm to fully estimate the 3-D structure when a sequence of images becomes available. From detection to 3-D estimation, a strong emphasis is placed on real-world applications and very fast processing with conventional hardware. Results of experimentation with a mobile robot under realistic conditions are given and discussed.

关键词： Mobile robots Image segmentation Layout computer vision Military computing Recursive estimation Ear Robot vision systems Cameras Data mining

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A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMAGE STREAMS 6

A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMA...

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CONF ON SENSOR FUSION 6

作者： DALMIA, AK TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819413240

The computation of 3-D structure from motion using a monocular sequence of images in the paradigm of active vision is investigated in this paper. Robotic tasks such as navigation, manipulation, and object recognition all require 3-D description of scene. The 3-D description for these tasks varies in resolution, accuracy, robustness, range, and time. In developing such a system, it must have the capability to actively control the imaging parameters so that a 3-D description sufficient enough for that task is generated. The objective of this paper is to investigate a strategy suitable for fast and active 3-D structure estimation. First, the process of 3-D structure estimation in the paradigm of active vision is discussed. Second, implication of image streams in 3-D structure computation is analyzed. The three approaches to structure from motion, feature based, optical flow based, and spatial and temporal gradient based, are reviewed for their efficacy in fast and active estimation of 3-D structure. Finally, a pipeline based implementation of a spatial and temporal gradient based approach is presented alongwith detailed experimental analysis. © 1993 SPIE. All rights reserved.

关键词： Object recognition

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AN ACTIVE vision SYSTEM FOR DEPTH EXTRACTION USING MULTI-PRIMITIVE HIERARCHICAL STEREO ANALYSIS AND MULTIPLE DEPTH CUES

AN ACTIVE VISION SYSTEM FOR DEPTH EXTRACTION USING MULTI-PRI...

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CONF ON SENSOR FUSION AND AEROSPACE APPLICATIONS

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819411922

Binocular stereo, vergence stereo, and depth from focus have been extensively studied in isolation in the past for extraction of depth. These passive approaches have there oivn strengths and limitations. All these cues differ in their input image requirements, computational requirements, and the quality and nature of results they provide. None of them by themselves is sufficient to reliably extract depth information from a wide variety of scenes. It is evident an integrated system ivhich employs multiple cues and exploits their strengths would be most critical for developing a robust depth extraction system. Active vision paradigm alloivs us to develop such a system where various depth cues cooperate to derive the 3-D structure of the scene. In this, the integration would be accomplished by active intelligent control of the acquisition processes tightly coupled to the analysis of image data. One of the uniqueness of our integration approach is that while previous approaches have used a single primitive stereo system, typically edgel based, we have chosen a novel multi-primitive hierarchical(MPH) system. In MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives, utilizing a hierarchical control strategy. The MPH stereo system consists of three integrated subsystems: region based analysis module;linear edge segment based analysis module;and edgel based stereo analysis module. The use of regions and edge segments in addition to the edgel based analysis add a new dimension to the extraction of depth from stereo images. In fact, even in an integrated multiple cue based system, an edgel based binocular stereo approach alone is insufficient to process a variety of scenes. The reliance of different primitives at various levels makes MPH stereo analysis ideal for use in an integrated multiple cue based depth extraction system. © 1993 SPIE. All rights reserved.

关键词： Extraction

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USING ANGULAR-DISPERSION OF GRADIENT DIRECTION FOR DETECTING EDGE RIBBONS

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1993年第7期15卷 682-696页

作者： GREGSON, PH Computer Vision image Processing Laboratory Department of Electrical Engineering Technical University of Nova Scotia Halifax NS Canada

Selection of suitable thresholds for edgel detection is frequently problematical due to the conflicting requirements of minimizing the number of false edgels detected while simultaneously minimizing the number of valid edgels missed. To minimize detection errors, detection thresholds should be based on the image signal to noise ratio (SNR), with the added benefit of maximizing the useful dynamic range of the imaging system. Edges in the scene generally project to smooth continuous curves nearly everywhere in the image. This results in low angular deviation of the intensity gradients in small neighborhoods straddling edges. Angular deviation is shown to be a measure of SNR. A theoretical analysis of angular deviation arising due to i.i.d. N(0, sigma2) random noise is presented. Angular deviation thresholds for neighborhood sizes from 3 x 3 to 11 x 11 are determined both from this analysis and numerical examples. The proposed gradient angular dispersion detection algorithm detects edge elements by comparing the measured angular deviation with values computed for the minimum acceptable SNR. Low values of deviation violate the ''no edge'' hypothesis. The algorithm is shown to make good use of the limited dynamic range of the imaging system. The sensitivity and selectivity of the strategy are both shown to be high.

关键词： ADAPTIVE THRESHOLDING ANGULAR DISPERSION EDGE DETECTION GRADIENT DIRECTION SIGNAL-TO-NOISE RATIO

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A NOVEL GRAPHICAL ENVIRONMENT FOR VIRTUAL AND REAL-WORLD OPERATIONS OF TRACKED MOBILE MANIPULATORS 6

A NOVEL GRAPHICAL ENVIRONMENT FOR VIRTUAL AND REAL-WORLD OPE...

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CONF ON SENSOR FUSION 6

作者： CHEN, CX TRIVEDI, MM AZAM, M LASSITER, NT Computer Vision and Roboiics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819413240

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, ( 4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules. © 1993 SPIE. All rights reserved.

关键词： Animation

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SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

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International Journal of Pattern Recognition and Artificial Intelligence 1993年第1期7卷 123-144页

作者： CHUXIN CHEN MOHAN M. TRIVEDI Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville TN 37996–2100 USA

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

关键词： Sensor-based robotics intelligent human-machine interface real-time robot simulation sensor simulation visualization virtual reality interactive control

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A novel graphical simulation and animation environment for integrated sensory-motor systems

A novel graphical simulation and animation environment for i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.B. Marapane M.M. Trivedi N. Lassiter Computer Vision Robotics Research Laboratory Electrical Computer Engineering Department University of Tennessee Knoxville TN USA

Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.

关键词： Animation Robot sensing systems Robot vision systems Buildings Software performance Hardware Kinematics Sensor phenomena and characterization Sensor systems Testing

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Developing telerobotic systems using virtual reality concepts

Developing telerobotic systems using virtual reality concept...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Trivedi C.X. Chen Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.

关键词： Telerobotics Virtual reality Robot sensing systems Humans Intelligent robots Man machine systems Intelligent systems computer vision Application software Switches

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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