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检索条件"机构=Computer Vision and Robotics"

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Vehicle wheel detector using 2D filter banks

Vehicle wheel detector using 2D filter banks

引用

IEEE Symposium on Intelligent Vehicle

作者： O. Achler M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Detecting vehicles from a moving vehicle is an important task. In this paper a new vehicle detector is introduced. The new vehicle detector employs the use of the ubiquitous wheel. Every car has wheels; this wheel detector finds wheels and infers vehicle location from the wheel detection. Views from an omnidirectional camera are used to generate side view images. These images are processed using a difference of Gaussian filter bank. The responses from the filter bank are applied to a precomputed set of principle components. The principle component responses are compared against a Gaussian mixture model of wheels and Gaussian model roadbed. Wheel candidates are chosen and tracked. Initial experimental results along with analysis are shown.

关键词： Vehicle detection Wheels Detectors Channel bank filters Vehicles Cameras Roads Principal component analysis Vehicle driving Filter bank

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Camera based vehicle detection, tracking, and wheel baseline estimation approach

Camera based vehicle detection, tracking, and wheel baseline...

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International Conference on Intelligent Transportation

作者： O. Achler M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Detecting and classifying vehicles using a stationary camera is an important task in intelligent transportation systems. A novel vehicle detector is introduced. The vehicle detector uses the most common feature among all vehicles, the ubiquitous wheel. The vehicle detector finds wheels and infers vehicle location from background segmentation and wheel detection. Views from a rigid rectilinear camera are used. The images are convolved using a difference of Gaussian filterbank. The responses from the filterbank are applied to a precomputed set of principle components. The principle component responses are compared against a Gaussian mixture model of wheels and Gaussian mixture model of non-wheels. Wheel candidates are chosen and tracked. Any wheel tracked in the foreground is chosen as wheel. Initial experimental results along with analysis are included.

关键词： Cameras Vehicle detection Wheels Vehicles Detectors Robot vision systems Bridges Subtraction techniques Intelligent robots Intelligent transportation systems

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Occupant posture analysis using reflectance and stereo image for "smart" airbag deployment

Occupant posture analysis using reflectance and stereo image...

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IEEE Symposium on Intelligent Vehicle

作者： S.J. Krotosky M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Robust detection of vehicle occupant posture is necessary for intelligent airbag deployment. This paper presents a vision-based method of estimating the size, posture and pose of the occupant. Utilizing raw reflectance and stereo disparity images, this algorithm presents a mixed-mode approach to finding occupant features. Extensive experiments show the viability of this mixed-mode method in identifying the occupant's head location and suggest the feasibility of extending the analysis system to include detection of features such as occupant arms and foreign objects.

关键词： Image analysis Reflectivity Stereo vision Head Lighting computer vision Robot vision systems Intelligent robots Laboratories Vehicle detection

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Cascaded filter approach to multi-objective control

Cascaded filter approach to multi-objective control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Thibodeau S.W. Hart D.R. Karuppiah J.D. Sweeney O. Brock Laboratory for Perceptual Robotics Computer Science Department University of Massachusetts Amherst USA Computer Vision Laboratory University of Massachusetts Amherst USA

In this paper we propose a new approach for multi-objective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is motivated by other control methods that prevent destructive control interactions through null space projections. We apply this approach to a practical leader/follower task in which a mobile robot must address the conflicting objectives of moving to a goal position while avoiding obstacles and keeping a region of the workspace within the field of view of a fixed camera mounted on the platform. We experimentally verify our approach using the Segway Robotic Mobility Platform (RMP), a dynamically stable, differential drive mobile robot.

关键词： Filters Robot kinematics Null space Mobile robots Laboratories Robot vision systems Control systems Cameras Decision making Orbital robotics

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Reference image computation from cartesian specifications for model-free visual servoing

Reference image computation from cartesian specifications fo...

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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Silveira, Geraldo Rives, Patrick CenPRA - Renato Archer Research Center DRVC - Robotics and Computer Vision Division CP 6162 Campinas/SP13083-970 Brazil INRIA Sophia Antipolis 2004 Route des Lucioles BP 93 Sophia Antipolis Cedex06902 France

It is proposed a new method to compute, from the current unstructured view, a reference (desired) image for visual servoing. The approach, which is based on Cartesian specifications, is made without moving the robot to the target location as in the teach-by-showing paradigm. In addition, although it is assumed a piecewise planar target, no metric information between the object features is required. Several results demonstrate its validity and usefulness, for example in reconnaissance and surveillance tasks. © 2004 IFAC

关键词： Visual servoing

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Enhancement for face video from omni-directional video camera

Enhancement for face video from omni-directional video camer...

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Asilomar Conference on Signals, Systems & computers

作者： Junwen Wu M.M. Trivedi Computer Vision and Robotics Research lab ECE Department University of California San Diego La Jolla CA USA

In this paper we propose a novel algorithm to enhance the face video from omni-directional video camera. A two-stage strategy is used. First stage is the noise elimination, realized by iterative MAP update. Naive Bayesian criterion is used to model the posterior. The predominant salt and pepper noise introduced by the omni-to-perspective transformation can be removed effectively, while the image details are well preserved. The high frequency component compensation (HFCC) super-resolution algorithm is applied thereafter to remove the blocky effect. Experimental results show that the video quality has a marked improvement.

关键词： Cameras Iterative algorithms Statistics Robot vision systems Bayesian methods Face detection Image resolution Image enhancement Streaming media Image segmentation

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A review of sensor fusion techniques for underwater vehicle navigation

A review of sensor fusion techniques for underwater vehicle ...

引用

OCEANS

作者： T. Nicosevici R. Garcia M. Carreras M. Villanueva Computer Vision and Robotics Group Institute of Informatics and Applicaitons University of Gironn E.P.S. Girona Spain

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors.

关键词： Sensor fusion Underwater vehicles Navigation Robot sensing systems Acoustic sensors Sensor systems Intelligent sensors Mobile robots Oceans Global Positioning System

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Actuator fault detection in autonomous helicopters

Actuator fault detection in autonomous helicopters

引用

IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Heredia, G. Remuß, Volker Ollero, A. Mahtani, R. Musial, Marek Robotics Computer Vision and Intelligent Control Group Dept. Ingeniería de Sistemas y Automática University of Seville Camino de los Descubrimientos s/n Seville41092 Spain Technical University of Berlin Einsteinufer 17 BerlinD-10587 Germany

This paper presents an actuator fault detection and diagnosis system for autonomous helicopters. The system has been tested with the MARVIN autonomous helicopter. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The effectiveness of the proposed approach is demonstrated by means of MARVIN experimental results and simulations. © 2004 IFAC

关键词： Unmanned aerial vehicles (UAV)

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Proposal of a parallel architecture for a motion detection algorithm

Proposal of a parallel architecture for a motion detection a...

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International Conference on Pattern Recognition

作者： V. Ila R. Garcia F. Charot Computer Vision and Robotics Group Institute of Informatics and Applications Girona Spain Institute de Recherche en Informatique et en Systemes Aleatoires Rennes France

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed.

关键词： Proposals Parallel architectures Motion detection Motion estimation Image processing computer architecture computer vision Robot vision systems Cameras Application software

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A collaborative approach for human-centered driver assistance systems

A collaborative approach for human-centered driver assistanc...

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International Conference on Intelligent Transportation

作者： J.C. McCall O. Achler M.M. Trivedi J.-B. Haue P. Fastrez D. Forster J.D. Hollan E. Boer Computer Vision and Robotics Research Laboratory Distributed Cognition and Human Computer Interaction Laboratory University of California San Diego USA ERB Consulting and Cal-IT University of California San Diego La Jolla CA USA

This paper describes an interdisciplinary research collaboration to design a human-centered driver assistance system. Driving behavior is captured using a novel intelligent vehicle test bed. The synchronized capture o... 详细信息

关键词： Collaboration Vehicle driving Cognition Streaming media Laboratories Intelligent vehicles Intelligent systems System testing Data analysis Video compression

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