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检索条件"机构=Computer Vision and Robotics"

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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

A visual servoing approach for tracking features in urban ar...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Mejias P. Campoy S. Saripalli G.S. Sukhatme Computer Vision Group Universidad Politécnica de Madrid Madrid Spain Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

The use of unmanned aerial vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust

关键词： Visual servoing Urban areas Helicopters Aircraft navigation Machine vision Control systems Unmanned aerial vehicles Global Positioning System computer vision Robot vision systems

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A computer vision system for monitoring the energy efficiency of intermodal trains

A computer vision system for monitoring the energy efficienc...

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ASME/IEEE Joint Conference on Rail

作者： Yung-Cheng Lai N. Ahuja C.P.L. Barkan J. Drapa J.M. Hart L. Milhon Railroad Engineering University of Illinois Urbana-Champaign IL USA Computer Vision and Robotics Laboratory University of Illinois Urbana-Champaign IL USA BNSF Railway Fort Worth TX USA

Intermodal trains are typically the fastest trains operated by North American freight railroads. It is thus ironic that these trains tend to have the poorest aerodynamic characteristics. Because of constraints imposed by equipment design and diversity, there are often large gaps between intermodal loads and these trains incur greater aerodynamic penalties and increased fuel consumption compared to other trains. We conducted train energy analyses of the most common intermodal train configurations operated in North America. It was found that matching intermodal loads with cars of appropriate length reduces the gap length thereby improving airflow. Properly matching cars with loads also avoids use of cars that are longer and thus heavier than necessary. For double stack containers on well cars, train resistance may be reduced by as much as 9% and fuel savings by 0.52 gallon per mile per train. Proper loading of intermodal trains is therefore important to improving energy efficiency. We have developed a wayside machine vision system that automatically scans passing trains and assesses the aerodynamic efficiency of the loading pattern. Machine vision algorithms are used to analyze these images and detect and measure gaps between loads and develop a quantitative index of the loading efficiency of the train. Integration of this metric that we call "slot efficiency" can provide intermodal terminal managers feedback on loading performance for trains and be integrated into the software support systems used for loading assignment

关键词： computer vision computerized monitoring Energy efficiency Loading Aerodynamics Fuels Machine vision North America Containers Image analysis

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Analysis of gaits for a rotating tripedal robot

Analysis of gaits for a rotating tripedal robot

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Intelligent Robots and computer vision XXIII: Algorithms, Techniques, and Active vision

作者： Lyons, Damian M. Pamnany, Kiran Robotics and Computer Vision Laboratory Fordham University NY 10458

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.

关键词： Biped locomotion

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Performance evaluation of a vision based lane tracker designed for driver assistance systems

Performance evaluation of a vision based lane tracker design...

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2005 IEEE Intelligent Vehicles Symposium

作者： McCall, Joel C. Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San Diego

ISBN: (纸本)0780389611

Driver assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively research and even put into commercial production. It is therefore important to take a critical look at key aspects of these systems, one of which being lane position tracking. In this paper we present an analysis of lane position tracking in the context of driver support systems and examine previous research in this area. Using this analysis we present a lane tracking system designed to work well under a variety of road and environmental conditions. We examine what types of metrics are important for evaluating lane position accuracy for specific overall system objectives. A detailed quantitative evaluation of the system is presented in this paper using a variety of metrics and test conditions. © 2005 IEEE.

关键词： computer vision

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Rotational legged locomotion

Rotational legged locomotion

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12th International Conference on Advanced robotics, 2005. ICAR '05

作者： Lyons, Damian M. Pamnany, Kiran Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458

ISBN: (纸本)0780391772

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report on experiments conducted to characterize stepping. © 2005 IEEE.

关键词： Gait analysis

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Rank-based multisensory fusion in multitarget video tracking

Rank-based multisensory fusion in multitarget video tracking

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IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2005

作者： Lyons, Damian M. Hsu, D. Frank Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458

ISBN: (纸本)0780393856

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in fusion produces a significantly better tracking result in crowded scenes. We also present a formalization of this fusion problem as a step in understanding why this effect occurs and how to build a tracking system that exploits it. © 2005 IEEE.

关键词： Tracking (position)

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A dynamic pruning and feature selection strategy for real-time tracking

A dynamic pruning and feature selection strategy for real-ti...

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19th International Conference on Advanced Information Networking and Applications, AINA 2005

作者： Hsu, D. Frank Lyons, Damian M. Computer Vision and Robotics Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458 United States

ISBN: (纸本)0769522491

Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the rank-score graph defined by Hsu and Taksa can be used to select a subset of features to fuse to reduce classification error. © 2005 IEEE.

关键词： Real time systems

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A binary tree for probability learning in eye detection

A binary tree for probability learning in eye detection

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2005 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San DiegoCA92037 United States

ISBN: (纸本)0769526608

In this paper we proposed to solve the eye detection and localization problem under a general statistical model based object detection framework. A binary tree representation is used to discover the objects' underlying statistical structure. Tree structures enable us to describe the object local statistical structure in a coarse-to-fine fashion. Each subtree explains the statistics for certain local *** tree is built in a top-down fashion. Subsets with negligible conditional independency are found by k-means clustering using mutual information. The conditionally independent features are separated into different subtrees, while more dependent features are tended to appear close in the tree. The distribution of the object can be learned accordingly. Gaussian mixture in the independent component analysis (ICA) subspace is used to model the distribution of each high dependent feature subset, where each independent component explains the local substructure. The use of tree structure enables us to learn the distribution recursively by applying Bayesian criterion. Substantial experiments were done to evaluate the performance over the eyes detection accuracy as well as the localization ability. Experimental results show a better detection accuracy than the Viisage system with a reasonable localization ability, which validate the algorithm. © 2005 IEEE computer Society. All rights reserved.

关键词： Object detection

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Looking-in and looking-out of a vehicle: Selected investigations in computer vision based enhanced vehicle safety

Looking-in and looking-out of a vehicle: Selected investigat...

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2005 IEEE International Conference on Vehicular Electronics and Safety

作者： Trivedi, Mohan M. Gandhi, Tarak McCall, Joel Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA United States

ISBN: (纸本)0780394356

This paper presents an overview of investigations into the role of computer vision technology in developing safer automobiles. We consider vision systems which can not only look out of the vehicle to detect and track roads, avoid hitting obstacles or pedestrian, but simultaneously look inside the vehicle to monitor the attentiveness of the driver and even predict her intentions. In this paper, a systems-oriented framework for developing computer vision technology for safer automobiles is presented. We will consider three main components of the system, driver, vehicle, and vehicle surround. We will discuss various issues and ideas for developing models for these main components as well as activities associated with the complex task of safe driving. The paper includes discussion of novel sensory systems and algorithms for capturing not only the dynamic surround information of the vehicle but also the state, intent and activity patterns of drivers. © 2005 IEEE.

关键词： computer vision

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An object tracking and visual servoing system for the visually impaired

An object tracking and visual servoing system for the visual...

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2005 IEEE International Conference on robotics and Automation

作者： Jacques, Duane J. Rodrigo, Ranga Mclsaac, Kenneth A. Samarabandu, Jagath Computer Vision and Mobile Robotics Laboratory Faculty of Engineering University of Western Ontario London Ont. Canada

ISBN: (纸本)078038914X

In this work, we have taken the first step towards the creation of a computerized seeing-eye guide-dog. The system we presented extends the development of assistive technology for the visually impaired into a new area: object tracking and visual servoing. The system uses computer vision to provide a kind of surrogate sight for the human user;sensing information from the environment and communicating it through haptic signalling. Our proof-of-concept prototype is a low-cost wearable system which uses a colour camera to analyze a scene and recognize a desired object, then generate tactile cues to the wearer to steer his or her hand towards the object. We have proved the system in trials with random users in an unstructured environment. © 2005 IEEE.

关键词： computer vision

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