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Tracking in a complex visual environment 1st

Tracking in a complex visual environment

引用

1st European Conference on computer vision, ECCV 1990

作者： Aloimonos, John Yiannis Tsakiris, Dimitris P. Computer Vision Laboratory Center for Automation Research and Institute for Advanced Computer Studies and Computer Science Department University of Maryland College ParkMD20742-3411 United States Electrical Engineering Department and Systems Research Center University of Maryland College ParkMD20742-3411 United States

ISBN: (纸本)9783540525226

We examine the tracking of 3-dimensional targets moving in a complex (e.g. highly textured) visual environment, which makes the application of methods relying on static segmentation and feature correspondence very problematic, even under specific assumptions about the trajectory of the target. From the system kinematics and optical flow formalism we derive a general criterion, the Tracking Constraint, which specifies the optimal camera reorientation as the one that minimizes the optical flow in the center of the camera in the sense of an appropriate metric. A correspondence-free scheme is devised which employs dynamic segmentation and linear features of the image in order to capture global information about the scene and bypass numerical differentiation of the image intensity. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Optical flows

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Optimally localized estimation of the fractal dimension

Optimally localized estimation of the fractal dimension

引用

Curves and Surfaces in computer vision and Graphics 1990

作者： Super, Boaz J. Bovik, Alan C. Department of Computer Sciences University of Texas at Austin AustinTX78712 United States Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712-1084 United States

We present a method for making accurate measurements of the instantaneous fractal dimension of (1) images modeled as fractal Brownian surfaces, and (2) images of physical surfaces modeled as fractal Brownian surfaces. Fractal Brownian surfaces have the property that their apparent roughness increases as the viewing distance decreases. Since this true of many natural surfaces, fractal Brownian surfaces are excellent candidates for modeling rough surfaces. To obtain accurate local values of the fractal dimension, spatio-spectrally localized measurements are necessary. Our method employs Gabor filters, which optimize the conflicting goals of spatial and spectral localization as constrained by the functional uncertainty principle. The outputs from multiple Gabor filters are fitted to a fractal power-law curve whose parameters determine the fractal dimension. The algorithm produces a local value of the fractal dimension for every point in the image. We also introduce a variational technique for producing a fractal dimension function which varies smoothly across the image. This technique is implemented using an iterative relaxation algorithm. A test of the method on 50 synthetic images of known global fractal dimensions shows that the method is accurate with an error of approximately 4.5% for fractal Brownian images and approximately 8.5% for images of physical fractal Brownian surfaces. © 1990 SPIE. All rights reserved.

关键词： Gabor filters

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On reducing compensator bandwidth of LQG/LTR control: an H∞- optimization approach

On reducing compensator bandwidth of LQG/LTR control: an H∞...

引用

American Control Conference (ACC)

作者： K. C. Han T. C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616 Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

Due to lack of robustness, the Linear Quadratic Gaussian (LQG) approach to the design of control systems is enhanced by Loop Transfer Recovery (LTR) techniques. However, the robustness is recovered with the price paid to the unduly large or infinite bandwidth of the compensator. Such compensators are undesirable because plant output measurement noise is greatly amplified so as to degrade the system performance. A simple method is presented for reducing compensator bandwidth by H ∞ - optimization of a stable function which combines the usual sensitivity function difference with a weighted closed-loop transfer function from noise to plant input. An example is given to show the improvement achievable by this new design method.

关键词： Bandwidth Noise robustness Robust control Control systems Noise measurement Degradation System performance Optimization methods Transfer functions Noise reduction

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Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers

Robot manipulator control using decentralized linear time-in...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia L.S. Gao Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

It is shown that robot manipulator control can be accomplished using simple decentralized linear time invariant time-delayed joint controllers instead of the complicated computed torque control scheme. This means that all the online computational problems associated with computing robot inverse dynamics can be avoided, and the robot control problem is essentially reduced to that of computing n linear proportional-derivation controls for n joint subsystems. The proposed control technique employs a time-delayed control with a specially designed constant diagonal gain matrix to decouple and linearize the robot joint dynamics so that linear centralized joint control can be achieved. It is shown that the proposed controller is stable, and the value of the special gain matrix can be selected based on a sufficient condition of stability presently developed. However, the establishment of this sufficient condition requires knowledge of the inertial matrix of the robot. It is also shown that the controller is robust in the presence of payload uncertainty. A two-link planar robot is presented to illustrate the controller design procedures and the performance of the controller.< >

关键词： Robot control Torque control Centralized control Transmission line matrix methods Manipulator dynamics Sufficient conditions Proportional control Stability Robust control Payloads

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Joint trajectory generation for redundant robots in an environment with obstacles

Joint trajectory generation for redundant robots in an envir...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Z.Y. Guo T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

The problem of determining collision-free joint space trajectories for redundant robots is considered, and the command-generator approach is used to generate such trajectories. In this approach, a distance objective function is defined and is optimized along the robot joint trajectories through a vector in a null space. Algorithms for implementing this optimization problem are fully developed. It is shown that the proposed collision-free trajectory generation scheme is efficient and practical. Extensive simulation results of a four-link robot example are presented and analyzed.< >

关键词： Orbital robotics Collision avoidance Robot sensing systems Kinematics Null space Analytical models Path planning Object detection Robot control Servomechanisms

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Object recognition in dense range images using a CAD system as a model base

Object recognition in dense range images using a CAD system ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Arman J.K. Aggarwal Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

A model-based vision system is proposed in which a commercial CAD system has been used for object modeling. Assuming that the model is known, the corresponding object in the scene is located. Given the CAD model of an object, certain features of the model are extracted, while others are precalculated and stored. The given dense 3-D range image is segmented into a set of homogeneous surface patches using a segmentation procedure. Properties such as curvature, surface normal, and surface area are approximated for each surface patch. For each extracted surface patch, three filters are applied to the previously obtained model features to find the best match. Then, a global consistency filter is applied to remove ambiguities and to find the best matched model.< >

关键词： Object recognition Layout computer vision Image segmentation Matched filters Machine vision Contracts Laser modes Data acquisition Inspection

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Binocular versus trinocular stereo

Binocular versus trinocular stereo

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： U.R. Dhond J.K. Aggarwal Computer & Vision Research Center ENS 519 Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

Consideration is given to the twin issues of the gain in accuracy of stereo correspondence and the accompanying increase in computational cost due to the use of a third camera for stereo analysis. The relative performance of binocular and trinocular stereo algorithms on stereo images with known ground truth is evaluated. A technology for comparing the matching performance of stereo algorithms by using real digital elevation maps is developed. Trinocular local matching reduces the percentage of mismatches having large disparity errors by more than one half when compared to binocular matching, while trinocular stereopsis increases the computational cost of local matching over binocular stereopsis by only about one fourth.< >

关键词： Stereo vision Cameras computer vision Computational efficiency Contracts Costs Image analysis Image recognition Data mining Robot vision systems

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A tutorial on multisensor integration and fusion

A tutorial on multisensor integration and fusion

引用

Annual Conference of Industrial Electronics Society

作者： R.C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >

关键词： Tutorial Sensor systems Intelligent sensors Intelligent robots Intelligent systems Sensor fusion Machine intelligence Control systems Aircraft navigation Laboratories

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

引用

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： R.C. Luo R.S. Scherp Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >

关键词： Object recognition Intelligent sensors Sensor phenomena and characterization Robot sensing systems Intelligent robots Robot vision systems Cameras Mobile robots Laser modes Data mining

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Shape from focus: an effective approach for rough surfaces

Shape from focus: an effective approach for rough surfaces

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.K. Nayar Y. Nakagawa The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Production Engineering Research Laboratory Hitachi and Limited Yokohama Kanagawa Japan

Two algorithms for depth estimation are presented. The first algorithm simply looks for the focus level that maximizes the focus measure at each image point. The second algorithm uses a Gaussian model to interpolate the focus measures to obtain more accurate depth estimates. The algorithms were implemented and tested on surfaces of different roughness and reflectance properties. The results indicate that the shape-from-focus method may be applied to a variety of industrial vision problems.< >

关键词： Shape Rough surfaces Surface roughness Focusing Frequency Image sensors Image analysis Layout Robots Image sequences

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