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A three dimensional localiser for autonomous robot vehicles 21

A three dimensional localiser for autonomous robot vehicles

引用

1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: computers, Communications and Automation towards the 21st Century, TENCON 1992

作者： Kleeman, L. Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)0780308492

A design of a three-dimensional localiser that is intended for autonomous robot vehicles is presented. The design is implemented in air using ultrasonic beacons but can be adapted using sonar to underwater environments where it has important applications, such as deep sea maintenance and reconnaissance tasks. Performance results of a laboratory prototype used to prove the design concept are presented. © 1992 IEEE.

关键词： Machine design

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A VIDEO PATTERN GENERATOR FOR vision TEST 35

A VIDEO PATTERN GENERATOR FOR VISION TEST

引用

35TH MIDWEST SYMP ON CIRCUITS AND SYSTEMS

作者： OBAIDAT, MS ABUSAYMEH, DS CIBIS, G PIERCE, D Computer Engineering Research Laboratory Department of Electrical and Computer Engineering University of Missouri - Columbia Kansas City MO United States Transoft Ltd. Country Club Plaza Kansas City MO United States

ISBN: (纸本)0780305108

This paper presents a hardware and software system for the generation of video patterns that can be used for various vision tests, particularly depth perception. Among the capabilities of the system is generation of static and dynamic random dot stereograms that can be used to test depth perception. The system generates the patterns in real time which provides the ability of moving the objects in the stereogram. This feature is very useful in testing depth perception among infants and non-communicative people by correlating the movement of the eye with the movement of the object. Furthermore, in order to prevent any cues, the system can generate the random dots dynamically or statically allowing the color of pixels to either change from a frame to another or remain static with all frames. The system is based on the TMS34010 graphics processor, operating at 40 MHz. The processor is interfaced to 512Kb of Video Random Access Memory (VRAM), 256Kb of Dynamic Random Access Memory (DRAM), and 16Kb of Erasable Programable Read Only Memory (EPROM). The system also has an RS-232C serial communication port for communicating with a host computer such as an IBM-PC, and a RGB video output for connection to an RGB color video monitor which displays the various video patterns. The software developed in this work produces the various patterns and test experiments. A monitor program was also written to aid in developing any new software needed to produce new patterns or test experiments. © 1992 IEEE.

关键词： Software testing

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A mean field solution to anisotropic edge detection of remotely sensed images 12

A mean field solution to anisotropic edge detection of remot...

引用

12th Annual International Geoscience and Remote Sensing Symposium, IGARSS 1992

作者： Acton, Scott T. Crawford, Melba M. Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States Center for Space Research Department of Mechanical Engineering University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)0780301382

A new edge detection technique based on anisotropic diffusion is implemented using mean field theory. This optimization approach to edge detection provides localized, thinned, and linked edges that are useful for image segmentation and edge-based image registrationb algorithms. The method is well-suited for remote sensing applications that depend on accurate boundary detection, multiple region delineation, and high speed parallel implementation. © IEEE 1992.

关键词： Edge detection

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Simulation and graphical interface for programming and visualization of sensor-based robot operation

Simulation and graphical interface for programming and visua...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C.X. Chen M.M. Trivedi C.R. Bidlack Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >

关键词： Robot programming Visualization Robot sensing systems robotics and automation Computational modeling Robot vision systems Automatic control Animation computer simulation Software safety

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A VLSI implementation of a light sensor with imbedded focal plane processing capabilities

A VLSI implementation of a light sensor with imbedded focal ...

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Parent, F. Tremblay, M. Laurendeau, D. Poussart, D. Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University Sainte-FoyQCG1K 7P4 Canada

ISBN: (纸本)0780307372

The complexity of information extraction requires the development of efficient and dedicated hardware systems designed to operate in harmony with robot vision and automation. This paper describes a system which combines optical sensing with integrated focal-plane processing capabilities and integrated image post-processing. It is capable of automatic edge tracking and returns lists of connected pixels. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Focusing

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Optimal nonlinear pattern restoration from noisy binary figures

Optimal nonlinear pattern restoration from noisy binary figu...

引用

1992 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 1992

作者： Schonfeld, D. Signal and Image Research Laboratory Department of Electrical Engineering and Computer Science University of Illinois at Chicago ChicagoIL60680-4348 United States

ISBN: (纸本)0818628553

A mathematical framework for the solution of statistical inference problems on a class of random sets is proposed. It is based on a new definition of expected pattern. The least-mean-difference estimator (restoration filter) is proved, under certain conditions, to be equivalent to the minimization of the measure of size (area) of the set-difference between the original pattern and the expected pattern of the estimated (restored) pattern. Consequently, it is proved that, under certain conditions, if the estimator (restoration filter) is unbiased, then it is the least mean difference estimator (restoration filter). © 1992 IEEE.

关键词： Restoration

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Canonical frames for planar object recognition 2nd

引用

2nd European Conference on computer vision, ECCV 1992

作者： Rothwell, Charles A. Zisserman, Andrew Forsyth, David A. Mundy, Joseph L. Robotics Research Group Department of Engineering Science Oxford University United Kingdom Department of Computer Science University of Iowa IA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States

ISBN: (纸本)9783540554264

We present a canonical frame construction for determining projectively invariant indexing functions for non-algebraic smooth plane curves. These invariants are semi-local rather than global, which promotes tolerance to occlusion. Two applications are demonstrated. Firstly, we report preliminary work on building a model based recognition system for planar objects. We demonstrate that the invariant measures, derived from the canonical frame, provide sufficient discrimination between objects to be useful for recognition. Recognition is of partially occluded objects in cluttered scenes. Secondly, jigsaw puzzles are assembled and rendered from a single strongly perspective view of the separate pieces. Both applications require no camera calibration or pose information, and models are generated and verified directly from images. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Object recognition

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Recognising rotationally symmetric surfaces from their outlines 2nd

引用

2nd European Conference on computer vision, ECCV 1992

作者： Forsyth, David A. Mundy, Joseph L. Zisserman, Andrew Rothwell, Charles A. Department of Computer Science University of Iowa Iowa CityIA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States Robotics Research Group Department of Engineering Science Oxford University United Kingdom

ISBN: (纸本)9783540554264

Recognising a curved surface from its outline in a single view is a major open problem in computer vision. This paper shows techniques for recognising a significant class of surfaces from a single perspective view. The approach uses geometrical facts about bitangencies, creases, and inflections to compute descriptions of the surface’s shape from its image outline. These descriptions are unaffected by the viewpoint or the camera parameters. We show, using images of real scenes, that these representations identify surfaces from their outline alone. This leads to fast and effective recognition of curved surfaces. The techniques we describe work for surfaces that have a rotational symmetry, or are projectively equivalent to a surface with a rotational symmetry, and can be extended to an even larger class of surfaces. All the results in this paper are for the case of full perspective. The results additionally yield techniques for identifying the line in the image plane corresponding to the axis of a rotationally symmetric surface, and for telling whether a surface is rotationally symmetric or not from its outline alone. © Springer-Verlag Berlin Heidelberg 1992.

关键词： computer vision

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A multi-resolution surface model for compact representation of range images

A multi-resolution surface model for compact representation ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Soucy A. Croteau D. Laurendeau Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

The authors present a surface triangulation technique for surface description at different levels of resolution in a range image. A step discontinuity constrained 2-1/2-D triangulation of all points is first computed. A sequential optimization process then removes, at each iteration. the point that minimizes the local retriangulation approximation error caused by its removal. The iterative process can stop at any time to obtain a desired level of approximation error.< >

关键词： Surface fitting Layout Engine cylinders Image segmentation computer vision Digital systems Laboratories Image resolution Approximation error Robots

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Extraction and interpretation of semantically significant line segments for a mobile robot

Extraction and interpretation of semantically significant li...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： X. Lebegue J.K. Aggarwal Computer and Vision Research Center Department of Electrical and Computer Engineering ENS 520 University of Texas Austin Austin TX USA

The authors describe algorithms for detecting and interpreting linear features of a real scene as images by a single camera on a mobile robot. The low-level processing stages were specifically designed to increase the usefulness and the quality of the extracted features for a semantic interpretation. The detection and interpretation processes provided a 3-D orientation hypothesis for each 2-D segment. This, in turn, was used to estimate the robot's orientation and relative position in the environment and to delimit the free space visible in the image. The orientation data was 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, an emphasis was placed on real-world applications and very fast processing with conventional hardware.< >

关键词： Layout Robot vision systems Cameras Mobile robots Data mining Feature extraction Image segmentation Orbital robotics Motion estimation Hardware

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