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检索条件"机构=Computer Vision and Active Perception Lab"

共 92 条记录，以下是21-30 订阅

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Unsupervised Surveillance Video Retrieval Based on Human Action and Appearance

Unsupervised Surveillance Video Retrieval Based on Human Act...

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International Conference on Pattern Recognition

作者： David Gerónimo Hedvig Kjellström Computer Vision and Active Perception Lab KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781479952106

Forensic video analysis is the offline analysis of video aimed at understanding what happened in a scene in the past. Two of its key tasks are the recognition of specific actions, e.g., walking or fighting, and the search for specific persons, also referred to as re-identification. Although these tasks have traditionally been performed manually in forensic investigations, the current growing number of cameras and recorded video leads to the need for automated analysis. In this paper we propose an unsupervised retrieval system for surveillance videos based on human action and appearance. Given a query window, the system retrieves people performing the same action as the one in the query, the same person performing any action, or the same person performing the same action. We use an adaptive search algorithm that focuses the analysis on relevant frames based on the inter-frame difference of foreground masks. Then, for each analyzed frame, a pedestrian detector is used to extract windows containing each pedestrian in the scene. For each detection, we use optical flow features to represent its action and color features to represent its appearance. These extracted features are used to compute the probability that the detection matches the query according to the specified criterion. The algorithm is fully unsupervised, i.e., no training or constraints on the appearance, actions or number of actions that will appear in the test video are made. The proposed algorithm is tested on a surveillance video with different people performing different actions, providing satisfactory retrieval performance.

关键词： Surveillance Image color analysis Feature extraction Detectors Legged locomotion Forensics Optical imaging

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Supervised Hierarchical Dirichlet Processes with Variational Inference

Supervised Hierarchical Dirichlet Processes with Variational...

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International Conference on computer vision Workshops (ICCV Workshops)

作者： Cheng Zhang Carl Henrik Ek Xavi Gratal Florian T. Pokorny Hedvig Kjellstrom Computer Vision and Active Perception Lab KTH Royal Institute of Technology Stockholm Sweden

We present an extension to the Hierarchical Dirichlet Process (HDP), which allows for the inclusion of supervision. Our model marries the non-parametric benefits of HDP with those of Supervised Latent Dirichlet Allocation (SLDA) to enable learning the topic space directly from data while simultaneously including the labels within the model. The proposed model is learned using variational inference which allows for the efficient use of a large training dataset. We also present the online version of variational inference, which makes the method scalable to very large datasets. We show results comparing our model to a traditional supervised parametric topic model, SLDA, and show that it outperforms SLDA on a number of benchmark datasets.

关键词： Computational modeling computer vision Data models Equations Standards Vectors Adaptation models

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Combinatorial optimization for hierarchical contact-level grasping

Combinatorial optimization for hierarchical contact-level gr...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Kaiyu Hang Johannes A. Stork Florian T. Pokorny Danica Kragic Computer Vision and Active Perception Lab KTH Royal Institute of Technology Stockholm Sweden

We address the problem of generating force-closed point contact grasps on complex surfaces and model it as a combinatorial optimization problem. Using a multilevel refinement metaheuristic, we maximize the quality of a grasp subject to a reachability constraint by recursively forming a hierarchy of increasingly coarser optimization problems. A grasp is initialized at the top of the hierarchy and then locally refined until convergence at each level. Our approach efficiently addresses the high dimensional problem of synthesizing stable point contact grasps while resulting in stable grasps from arbitrary initial configurations. Compared to a sampling-based approach, our method yields grasps with higher grasp quality. Empirical results are presented for a set of different objects. We investigate the number of levels in the hierarchy, the computational complexity, and the performance relative to a random sampling baseline approach.

关键词： Face Optimization Search problems Robots Linear programming Shape Friction

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Cooperative grasping through topological object representation

Cooperative grasping through topological object representati...

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IEEE-RAS International Conference on Humanoid Robots

作者： Alejandro Marzinotto Johannes A. Stork Dimos V. Dimarogonas Danica Kragic Computer Vision and Active Perception Lab KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781479971756

We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.

关键词： Robot kinematics Collision avoidance Three-dimensional displays Joints Grasping Shape

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Towards a unified behavior trees framework for robot control

Towards a unified behavior trees framework for robot control

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Alejandro Marzinotto Michele Colledanchise Christian Smith Petter Ögren Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

This paper presents a unified framework for Behavior Trees (BTs), a plan representation and execution tool. The available literature lacks the consistency and mathematical rigor required for robotic and control applications. Therefore, we approach this problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned issues; second, describing our unified BT framework along with equivalence notions between BTs and Controlled Hybrid Dynamical Systems (CHDSs). This paper improves on the existing state of the art as it describes BTs in a more accurate and compact way, while providing insight about their actual representation capabilities. Lastly, we demonstrate the applicability of our framework to real systems scheduling open-loop actions in a grasping mission that involves a NAO robot and our BT library.

关键词： Vehicles Tin Robots Trajectory Heuristic algorithms Synchronization

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Online contact point estimation for uncalibrated tool use

Online contact point estimation for uncalibrated tool use

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yiannis Karayiannidis Christian Smith Francisco E. Viña Danica Kragic Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

One of the big challenges for robots working outside of traditional industrial settings is the ability to robustly and flexibly grasp and manipulate tools for various tasks. When a tool is interacting with another object during task execution, several problems arise: a tool can be partially or completely occluded from the robot's view, it can slip or shift in the robot's hand - thus, the robot may lose the information about the exact position of the tool in the hand. Thus, there is a need for online calibration and/or recalibration of the tool. In this paper, we present a model-free online tool-tip calibration method that uses force/torque measurements and an adaptive estimation scheme to estimate the point of contact between a tool and the environment. An adaptive force control component guarantees that interaction forces are limited even before the contact point estimate has converged. We also show how to simultaneously estimate the location and normal direction of the surface being touched by the tool-tip as the contact point is estimated. The stability of the the overall scheme and the convergence of the estimated parameters are theoretically proven and the performance is evaluated in experiments on a real robot.

关键词： Force Estimation Torque measurement Torque Force measurement Robot sensing systems

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active exploration using Gaussian Random Fields and Gaussian Process Implicit Surfaces

Active exploration using Gaussian Random Fields and Gaussian...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sergio Caccamo Yasemin Bekiroglu Carl Henrik Ek Danica Kragic Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm SE

ISBN: (纸本)9781509037636

In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile measurements using Gaussian Random Field and Gaussian Process Implicit Surfaces. The system investigates incomplete point clouds in order to find a small set of regions of interest which are then physically explored with a robotic arm equipped with tactile sensors. We show experimental results obtained using a PrimeSense camera, a Kinova Jaco2 robotic arm and Optoforce sensors on different scenarios. We then demostrate how to use the online framework for object detection and terrain classification.

关键词： Surface treatment Gaussian processes Three-dimensional displays Robot sensing systems Shape Surface reconstruction

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Extending a UGV teleoperation FLC interface with wireless network connectivity information

Extending a UGV teleoperation FLC interface with wireless ne...

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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sergio Caccamo Ramviyas Parasuraman Fredrik Båberg Petter Ögren Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

Teleoperated Unmanned Ground Vehicles (UGVs) are expected to play an important role in future search and rescue operations. In such tasks, two factors are crucial for a successful mission completion: operator situational awareness and robust network connectivity between operator and UGV. In this paper, we address both these factors by extending a new Free Look Control (FLC) operator interface with a graphical representation of the Radio Signal Strength (RSS) gradient at the UGV location. We also provide a new way of estimating this gradient using multiple receivers with directional antennas. The proposed approach allows the operator to stay focused on the video stream providing the crucial situational awareness, while controlling the UGV to complete the mission without moving into areas with dangerously low wireless connectivity. The approach is implemented on a KUKA youBot using commercial-off-the-shelf components. We provide experimental results showing how the proposed RSS gradient estimation method performs better than a difference approximation using omnidirectional antennas and verify that it is indeed useful for predicting the RSS development along a UGV trajectory. We also evaluate the proposed combined approach in terms of accuracy, precision, sensitivity and specificity.

关键词： Receivers Cameras Wireless communication Direction-of-arrival estimation Robot vision systems Antenna measurements

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active perception and modeling of deformable surfaces using Gaussian processes and position-based dynamics

Active perception and modeling of deformable surfaces using ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Sergio Caccamo Püren Güler Hedvig Kjellström Danica Kragic Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

ISBN: (纸本)9781509047192

Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline observations using computationally expensive force-based simulators. In this work we present an online probabilistic framework for autonomous estimation of a deformability distribution map of heterogeneous elastic surfaces from few physical interactions. The method takes advantage of Gaussian Processes for constructing a model of the environment geometry surrounding a robot. A fast Position-based Dynamics simulator uses focused environmental observations in order to model the elastic behavior of portions of the environment. Gaussian Process Regression maps the local deformability on the whole environment in order to generate a deformability distribution map. We show experimental results using a PrimeSense camera, a Kinova Jaco2 robotic arm and an Optoforce sensor on different deformable surfaces.

关键词： Shape Deformable models Gaussian processes Robot sensing systems Ground penetrating radar Surface treatment Computational modeling

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How Behavior Trees generalize the Teleo-Reactive paradigm and And-Or-Trees

How Behavior Trees generalize the Teleo-Reactive paradigm an...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Michele Colledanchise Petter Ögren Computer Vision and Active Perception Lab. KTH - Royal Institute of Technology Stockhalm Sweden

Behavior Trees (BTs) is a way of organizing the switching structure of a control system, that was originally developed in the computer gaming industry but is now also being used in robotics. The Teleo-Reactive programs (TRs) is a highly cited reactive hierarchical robot control approach suggested by Nilsson and And-Or-Trees are trees used for heuristic problems solving. In this paper, we show that BTs generalize TRs as well as And-Or-Trees, even though the two concepts are quite different. And-Or-Trees are trees of conditions, and we show that they transform into a feedback execution plan when written as a BT. TRs are hierarchical control structures, and we show how every TR can be written as a BT. Furthermore, we show that so-called Universal TRs, guaranteeing that the goal will be reached, are a special case of so-called Finite Time Successful BTs. This implies that many designs and theoretical results developed for TRs can be applied to BTs.

关键词： Service robots Batteries Control systems Industries Problem-solving computers

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