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Optimal object localization using dual number quaternions 7

Optimal object localization using dual number quaternions

引用

Applications of Artificial Intelligence VII 1989

作者： Walker, Michael W. Shao, Lejun Volz, Richard A. Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann ArborMI48109-2110 United States

This paper presents a new algorithm for determining the position and orientation of objects. The problem is formulated as an optimization problem using dual number quaternions. It is shown that this reduces to an eigenvalue problem for which standard software library routines can be used to obtain the solution. © 1989 SPIE. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Multi-spectral scale and rotation invariant associative memory method for pattern recognition

Multi-spectral scale and rotation invariant associative memo...

引用

Optics, Illumination, and Image Sensing for Machine vision III 1988

作者： Kimball, Steven F. Messner, Richard A. University of New Hampshire Synthetic Vision and Pattern Analysis Laboratory Department of Electrical and Computer Engineering DurhamNH03824 United States

The method of using log-polar mapping with spectral band separation to form feature vectors for an associative memory is investigated. Log-polar mapping is used to provide the scale and rotation invariant properties. This reduces the teaching time and total capacity requirement for the associative memory because all orientations and sizes of the target object need not be learned. The images are also broken down into spatial frequency bands. The use of this technique is motivated by evidence that similar processes occur in the human visual system. Suspected benefits include enhanced recognition in the presence of noise and improved network robustness. Simulation results are presented for the case of character recognition. © 1989 SPIE. All rights reserved.

关键词： Associative processing

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Image segmentation using human visual system properties with applications in image compression

Image segmentation using human visual system properties with...

引用

Human vision, Visual Processing, and Digital Display 1989

作者： Peterson, Heidi A. Rajala, Sarah A. Delp, Edward J. Computer Vision and Image Processing Laboratory School of Electrical Engineering Purdue University West LafayetteIN47907 United States Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695 United States

Many image compression techniques involve segmentation of a gray level image. With such techniques, information is extracted that describes the regions in the segmented image, and this information is then used to form a coded version of the image. In this paper we present a region-growing-based segmentation technique that incorporates human visual system properties, and describe the use of this technique in image compression. We also discuss the effect of requantizing a segmented image. Requantization of a segmented image is useful because it can lead to a reduction in the number of bits required to code the description of the regions in the segmented image. This results in a lower data rate. We show that the number of gray levels in a segmented image can be reduced by a factor of at least twelve, without noticeable degradation in the quality of the segmented image. This result is attributable to human visual system properties having to do with contrast sensitivity, and to the fact that requantization of a segmented image does not usually reduce significantly the number of distinct segments in the image. In addition, in this paper we explore the relationship between the number of segments in an image, and the extent of requantization possible before noticeable degradation occurs in the image. Finally, we discuss the impact of the above results on image compression algorithms, and present some experimental results. © 1989 SPIE. All rights reserved.

关键词： Image compression

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Combined vision/ultrasonics for multi-dimensional robotic tracking

Combined vision/ultrasonics for multi-dimensional robotic tr...

引用

Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)9780819400383

An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achieved through the development of techniques to track in multiple dimensions for both the static and dynamic cases. These methods are realized via the fusion of the best attributes of visual and acoustic sensing into an effective configuration that is ideal for real time tracking purposes. The kinematic information for a moving object is extracted via end effector mounted vision and ultrasonic sensors. A hybrid position/force servo-controlled gripper developed at NCSU has been used for the system implementation. One parallel actuation gripper finger houses a fiber optics based Eye-in-Hand vision sensor, while the other accommodates an ultrasonic range sensor. The primary intent of this work is to develop approaches for performing the tasks of: generalized visual/ultrasonic tracking of known rectangular entities;3-D tracking of arbitrary pseudo-planar objects that can change orientation about the optical axis;and a real time paradigm for the tracking of motion in 3-D with variable orientation about the optical axis. This discussion includes both a description of the underlying principles and the initial experimental results.

关键词： Grippers

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Darboux frames, snakes, and super-quadrics: geometry from the bottom-up

Darboux frames, snakes, and super-quadrics: geometry from th...

引用

Workshop on Interpretation of 3D Scenes

作者： F.P. Ferrie J. Lagarde P. Whaite Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

A representation and a computational model for deriving three-dimensional articulated volumetric descriptions of objects from laser range-finder data are described. What differentiates this work from other approaches is that it is purely bottom up, relying on general assumptions cast in terms of differential geometry. Darboux frames, snakes, and superquadrics form the basis of this representation, and curvature consistency provides the computational framework. The organization is hierarchical. Darboux frames are used to describe the local surface, while snakes are used to interpolate between features, particularly those that serve to partition a surface into its constituent parts. Superquadrics are subsequently used to characterize the 3-D shape of each surface partition. The result is a set of connected volumetric primitives which serve to describe the overall shape of an object. A set of examples showing how the approach performs on data acquired with a laser range finder is included.< >

关键词： Geometrical optics Surface fitting Computational geometry computer vision Shape Surface reconstruction Robot vision systems Laboratories Laser modes Orbital robotics

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High-speed 2-D hardware convolution architecture based on VLSI systolic arrays

High-speed 2-D hardware convolution architecture based on VL...

引用

IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

The design of a special-purpose systolic image convolution processor for use in a robot vision system is described. It presents a high-speed two-dimensional hardware convolution architecture based on VSLI systolic arrays for image processing applications. An architecture for the parallel processing of the generalized two-dimensional convolution is summarized. A VLSI convolution chip was designed to accommodate various convolution window sizes. The number of coefficients being handled is directly proportional to the number of systolic computing elements (processors) used. In the present design three such processors are configured on one VLSI chip. Signed coefficients and unsigned data of eight bits are supported. All processing and interprocessor communications are performed bit-serially. The chip design incorporates error detection during convolution, and overflow avoidance techniques are possible for maximum system autonomy. The chip is estimated to operate at a maximum frequency of 16 MHz.< >

关键词： Hardware Convolution Very large scale integration computer architecture Frequency estimation Robot vision systems Systolic arrays Image processing Parallel processing Process design

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Object recognition using fast adaptive Hough transform

Object recognition using fast adaptive Hough transform

引用

IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

A fast adaptive Hough transform (FAHT) approach is developed for detecting shapes which can be characterized by two parameters. This class of shapes includes both linear and circular image features. The method is based on identifying linear and circular segments in images by searching for clusters of evidence in two-dimensional parameter spaces. The FAHT differs from HT in the degree of freedom allowed in the placement and choice of shape of the window which defines the range of parameters under study at each resolution. This method is superior to that of HT implementation in both storage and computational requirements. The ideas of the FAHT are illustrated by tackling the problem of identifying linear segments in images by searching for clusters of evidence in two-dimensional parameter spaces. It is shown that the method is robust to the addition of extraneous noise and can be used to analyze complex images containing more than one shape.< >

关键词： Object recognition Shape Image analysis Image segmentation Equations computer vision Noise robustness Noise shaping Image edge detection Robot vision systems

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Adaptive coordinated motion control of two manipulator arms

Adaptive coordinated motion control of two manipulator arms

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Walker D. Kim J. Dionise Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan USA

An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the object is proved, assuming perfect models for both manipulators. The computational algorithm is similar to the Newton-Euler inverse dynamics algorithm with complexity linear in the number of links in the manipulators. A significant feature of the control method is that both manipulators use the identical computational algorithm. Thus, the concept of master/slave relationship between the two manipulators is avoided. Two simulations are presented. The first assumes an ideal model for each manipulator. As expected, the controller is stable and provides excellent tracking ability of the manipulator. The second simulation investigates the effects of modeling errors in the mass properties of each arm. The position trajectories track very close to their desired values; however, they never completely converge.< >

关键词： Programmable control Adaptive control Motion control Arm Manipulator dynamics Trajectory Computational modeling Weight control Convergence Heuristic algorithms

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A medical axis transform algorithm for compression and vectorization of document images

A medical axis transform algorithm for compression and vecto...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： J.W. Brandt A.K. Jain Computer Vision Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

It is proposed that the medial axis transformation (MAT), being an invertible transformation, has value in lossless data compression, and, since the MAT conveys the line structure of an image, that it is also useful for vector conversion. To this end, some properties of the MAT are established and then exploited to devise a specialized chain-code representation. This MAT-based chain-code language captures any binary image but is particularly suited to line drawings. An extension of the language that can express chain-code sequences as linear and quadratic line segments under tunable error tolerance is described. The representation has achieved acceptable lossless data compression and significant additional compression for line drawings when vectorization is employed. As the error tolerance is increased, the amount of compression increases together with distortion. Thus, the method can be used to obtain a rate/distortion curve for binary images.< >

关键词： Biomedical imaging Image coding Image segmentation computer vision Skeleton Rate distortion theory Data compression computer science Vectors Image converters

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Mean field theory and MT neurons

Mean field theory and MT neurons

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： A. Dobbins S.W. Zucker Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Canadian Institute for Advanced Research Montreal QUE Canada

The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations of the optical flow field, that is, the maximal neighborhood over which the local field can be well-approximated as uniform, parallel translation. In addition, the way the mean field approximation varies with neighborhood size and position is informative about the variation of the flow field. It is shown how receptive fields can be synthesized to represent the first-order differential information about the flow field. The same ideas are applicable to the binocular disparity vector field, and lead one to predict the existence of extrastriate neurons that are specialized for the local shear and stretch of the disparity and motion vector fields.< >

关键词： Neurons Image motion analysis Circuits computer architecture computer vision Robot vision systems Laboratories Shape Optical devices Retina

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