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IEEE International Conference on Systems, Man and Cybernetics

作者： S.A. Brandt C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Most early research in robotic visual tracking, especially prior to 1990, separated the vision processing and robot control aspects of the system. Attempts to solve the problem close the control loop by incorporating the output of the vision processing as an input to the control subsystem. The controlled active vision framework describes one such approach wherein dynamic target, camera, and environmental factors are incorporated via adaptive controllers that utilize the sum-of-squared differences (SSD) optical flow measurements as an input to the control loop. This paper describes work at the University of Minnesota's Artificial intelligence, Robotics, and vision laboratory in developing the Minnesota Robotic Visual Tracker (MRVT), a controlled active vision robotic testbed. In addition, enhancements to the basic SSD algorithm are presented that produce order-of-magnitude improvements over previously reported results.< >

关键词： Testing Robot vision systems Optical control Intelligent robots Robot control Cameras Environmental factors Programmable control Adaptive control Adaptive optics

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vision sensing for intelligent vehicle and highway systems

Vision sensing for intelligent vehicle and highway systems

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： C.E. Smith S.A. Brandt N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

The complexity and congestion of current transportation systems often produce traffic situations that jeopardize the safety of the people involved. These situations vary from maintaining a safe distance behind a leading vehicle to safely allowing a pedestrian to cross a busy street. Environmental sensing plays a critical role in virtually all of these situations. Of the sensors available, vision sensors provide information that is richer and more complete than other sensors, making them a logical choice for a multisensor transportation system. In this paper we present robust techniques for intelligent vehicle and highway applications where computer vision plays a crucial role. In particular, we demonstrate that the controlled active vision framework can be utilized to provide a visual sensing modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations. We have selected two application examples, vehicle tracking and pedestrian tracking, to demonstrate that the framework can provide precisely the type of information required to effectively manage the given situation.< >

关键词： Intelligent vehicles Road transportation Radar tracking Sensor systems Vehicle safety Intelligent sensors Robustness Laser radar Vehicle detection computer vision

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Application of the controlled active vision framework to robotic and transportation problems

Application of the controlled active vision framework to rob...

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IEEE Workshop on Applications of computer vision (WACV)

作者： C.E. Smith N.P. Papanikolopoulos S.A. Brandt Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Flexible operation of a robotic agent in an uncalibrated environment requires the ability to recover unknown or partially known parameters of the workspace through sensing. Of the sensors available to a robotic agent, visual sensors provide information that is richer and more complete than other sensors. In this paper we present robust techniques for the derivation of depth from feature points on a target's surface and for the accurate and high-speed tracking of moving targets. We use these techniques in a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the controlled active vision framework and robustly determines parameters such as velocity for tracking moving objects and depth maps of objects with unknown depths and surface structure. Such determination of intrinsic environmental parameters is essential for performing higher level tasks such as inspection, exploration, tracking grasping, and collision-free motion planning. For both applications, we use the Minnesota Robotic Visual Tracker (a single visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system) to automatically select feature points on surfaces, to derive an estimate of the environmental parameter in question, and to apply a control vector based upon these estimates to guide the manipulator. The paper concludes with applications of these techniques to transportation problems such as vehicle tracking.< >

关键词： Robot vision systems Robot sensing systems Target tracking Control systems Robotics and automation Manipulators Robustness Velocity control Robust control Surface structures

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Robotic exploration under the controlled active vision framework

Robotic exploration under the controlled active vision frame...

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IEEE Conference on Decision and Control

作者： C.E. Smith S.A. Brandt N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

We present robust techniques for the derivation of depth from feature points on a target surface and for the accurate and high-speed tracking of moving targets. We use these techniques in a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the controlled active vision framework and robustly determines parameters such as velocity for tracking moving objects and depth maps of objects with unknown depths and surface structure. Such determination of extrinsic environmental parameters is essential for performing higher level tasks such as inspection, exploration, tracking, grasping, and collision-free motion planning. For both applications, we use the Minnesota Robotic Visual Tracker (a visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system) to automatically select feature points on surfaces, to derive an estimate of the environmental parameter in question, and to supply a control vector based upon these estimates to guide the manipulator.< >

关键词： Robot vision systems Target tracking Control systems Robot sensing systems Robotics and automation Manipulators Robustness Velocity control Robust control Surface structures

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WAVELET ARRAY DECOMPOSITION OF IMAGES USING A HERMITE SIEVE

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SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING scienceS 1993年第2期18卷 301-&页

作者： VENKATESH, YV RAMANI, K NANDINI, R Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

Generalized Hermite Polynomials are used in a novel way to arrive at a multi-layered representation of images. This representation, which is centred on the creation of a new class of wavelet arrays, is (i) distinct from what we find in the current literature, (ii) stable, and (iii) in the manner of standard transforms, transforms the image, explicitly, into matrices of coefficients, reminiscent of Fourier series, but at various scales, controlled by a scale parameter. Among the other properties of the wavelet arrays, (a) the shape of the resolution cell in the 'phase-space' is variable even at a specified scale, depending on the nature of the signal under consideration;and (b) a systematic procedure is given for extracting the zero-crossings from the coefficients at various scales. This representation has been successfully applied to both synthetic and natural images, including textures.

关键词： IMAGE REPRESENTATION WAVELET TRANSFORM MULTIRESOLUTION GENERALIZED HERMITE POLYNOMIALS SCALE SPACE SIGNAL DECOMPOSITION WINDOWED FOURIER TRANSFORM FOURIER SERIES ZERO-CROSSINGS

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On an optimal learning scheme for bidirectional associative memories

On an optimal learning scheme for bidirectional associative ...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Shanmukh Y.V. Venkatesh Comput. Vision & Artificial Intelligence Lab. Inst. of Sci. Bangalore India Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

An optimal learning scheme is proposed for a class of bidirectional associative memories (BAMs). This scheme, based on the perceptron learning algorithm, is motivated by the inadequacies/incompleteness of the weighted learning by global optimization, as derived by Wang et al. (1993). It is shown that the new scheme has superior properties: (1) Convergence to the correct solution, when it exists; and (2) A larger basin of attraction for the given set of patterns.

关键词： Neurons Neural networks Neurofeedback Learning Convergence Pattern recognition computer vision Artificial intelligence Laboratories Artificial neural networks

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HERMITE-POLYNOMIALS FOR SIGNAL RECONSTRUCTION FROM ZERO-CROSSINGS .1. ONE-DIMENSIONAL SIGNALS

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IEE PROCEEDINGS-I COMMUNICATIONS SPEECH AND vision 1992年第6期139卷 587-596页

作者： VENKATESH, YV Department of Electrical Engineering Computer Vision and Artificial Intelligence Laboratory Indian Institute of Science Bangalore India

Generalised Hermite polynomials are employed for the reconstruction of an unknown signal from a knowledge of its zero-crossings, under certain conditions on its spatial/spectral width, but dispensing with the assumption of bandlimitedness. A computational implementation of the proposed method is given for one-variable (or one-dimensional) signals, featuring an application of simulated annealing for optimal reconstruction.

关键词： HERMITE POLYNOMIALS SIGNAL RECONSTRUCTION SIMULATED ANNEALING

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Arnie P. - A robot golfing system using binocular and a heuristic feedback mechanism

Arnie P. - A robot golfing system using binocular and a heur...

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

作者： Webster, Roger W. Wei, Yong Department of Computer Science Robot Vision and Artificial Intelligence Laboratory Millersville University MillersvillePA17551 United States Department of Mechanical Engineering Northeast University of Technology Shenyang Liaoning Province China

ISBN: (纸本)0780307372

This paper describes a robot vision golfing system. The Automated. Robotic Navigational unit with Intelligent Eye and Putter (ARN1E P)r project was initiated to investigate the problems and develop software solutions for robotic tasks that require good hand-eye coordination and an intelligent sensor feedback mechanism. This system has only one frame buffer and no specialized hardware, so quasi-real time 3D tracking is accomplished in software using the Unix Spline facility. The single frame buffer and digitizer, stores and retains the location of the ball from two separate cameras during the time interval between the golf ball initially crossing a trigger scan line and the ball coming to a complete stop. The most novel aspect of this study is that by attempting to build or model a difficult perceptory task such as golf which requires integrating many complicated computational pieces (binocular stereo vision, robot arm motion, heuristic feedback, learning), it appears to be a good platform to experiment with artificial intelligence techniques arid robotics. © 1992 IEEE. All rights reserved.

关键词： Golf

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Image representation using vector wavelets

Image representation using vector wavelets

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International Conference on Pattern Recognition

作者： Y.V. Venkatesh K. Ramani R. Nandini Computer Vision Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

A new layered representation of images is proposed using, what one may call, vector wavelets defined by generalized Hermite polynomials. This representation has some special properties: it is distinct from and superior to the other wavelet schemes of the literature; it is stable; it transforms the image into matrices of coefficients in the same manner as the standard transforms (Fourier, Hadamard and others), but at the specified 'scales'; the zero-crossings of the signal at various scales can be directly obtained from the coefficients; and the size of the resolution cell in the 'phase-space' is variable even at a specified scale, depending on the image being analysed. This representation has been successfully applied to different types of images, both synthetic and natural.< >

关键词： Image representation Fourier transforms Wavelet transforms Polynomials Wavelet analysis Error correction Error correction codes Image resolution Signal resolution Image analysis

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An intelligent mobile robot golfing system using binocular stereo vision

An intelligent mobile robot golfing system using binocular s...

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International Conference on Pattern Recognition

作者： R.W. Webster Yong Wei Robot Vision and Artificial Intelligence Laboratory Department of Computer Science Millersville University Millersville PA USA Department of Mechanical Engineering Northeast University of Technology Shenyang Liaoning China

This paper describes a robot vision golfing system. The ARNIE P/sup tau / (Automated Robotic Navigational unit with Intelligent Eye and Putter) project was initiated to investigate the problems and develop software solutions for robotic tasks that require good hand-eye coordination and an intelligent feedback mechanism. This system has only one frame buffer and no specialized hardware, so quasi-real-time 3D tracking is accomplished in software using the unix spline facility. Golf is a difficult perceptory task which requires the integration of many complicated computational tasks. It is therefore a good platform to experiment with artificial intelligence techniques and robotics.< >

关键词： Intelligent robots Mobile robots Robot kinematics Robotics and automation Robot vision systems machine vision Navigation Computational intelligence Feedback Hardware

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