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2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yoon, Kuk-Jin Kweon, In-So Robotics and Computer Vision Lab. Dept. of Elec. Eng. and Comp. Sci. KAIST Taejon Korea Republic of

For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with a symmetric and repetitive structure, which shows invariant color histogram characteristics under some geometric distortions. Detection and tracking of the model are accomplished by a factored sampling technique in which color similarity is estimated by the color histogram intersection. We also use the color similarity to update the color histogram model of the landmark model for robust tracking under illumination change. We demonstrate the feasibility of the proposed technique through experiments in cluttered indoor environments.

关键词： Mobile robots

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Maintaining the identity of multiple vehicles as they travel through a video network

Maintaining the identity of multiple vehicles as they travel...

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IEEE Workshop on Multi-Object Tracking

作者： G.T. Kogut M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

ISBN: (纸本)0769511716

Large vision infrastructures have been installed, or are under construction in many major metropolitan areas. These networks of cameras offer enormous volumes of data from large areas. However, most work in ITS computer vision is constricted to the use of either single cameras, or small numbers of cameras. There is an enormous amount of information available from the fusion of data from multiple cameras that is not available from any single sensor. This paper presents an algorithm that provides an example of such data fusion: maintaining the identity of a vehicle, or groups of vehicles as they pass through multiple cameras sites. The algorithm uses a combination of color features and the spatial organization of vehicles within platoons to minimize false positives. The algorithm could be used in an application to track individual cars as they travel long distances through a traffic system allowing the measurement of point-to-point traffic parameters, such as travel time.

关键词： Cameras Telecommunication traffic Vehicle detection Costs Sensor systems Hardware Traffic control Bandwidth Internet Fuses

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Model Identification of a Low-Speed UUV

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IFAC Proceedings Volumes 2001年第7期34卷 395-400页

作者： P. Ridao J. Battle M. Carreras Computer Vision and Robotics Group University of Girona Edifici Politécnica II Campus Montilivi 17071 Girona Spain

This paper presents a simple and effective model identification method for Unmanned Underwater Vehicles (UUV). The complete process, with 3 different phases, is firstly described and successively applied to the underwater robot GARBI. The identification is aimed at uncoupling the different degrees of freedom (DOF) in low-speed vehicles, and is based completely on low-cost sensors. Least square techniques are used to estimate the UUV dynamics parameters. Experiments in the laboratory and in a real underwater environment were carried out. Numerical and graphical results of the GARBI identification process are included.

关键词： Identification Modelling Marine Systems Robot dynamics Vehicle Simulation

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A system to evaluate the accuracy of a visual mosaicking methodology

A system to evaluate the accuracy of a visual mosaicking met...

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OCEANS

作者： R. Garcia J. Batlle X. Cufi Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Girona Spain

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system.

关键词： Image sequences Underwater vehicles Motion estimation Robot vision systems Cameras Navigation Oceans computer vision Laboratories computer errors

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Estimating the motion of an underwater robot from a monocular image sequence

Estimating the motion of an underwater robot from a monocula...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Garcia X. Cufi M. Carreras Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot.

关键词： Motion estimation Robots Navigation Underwater vehicles Oceans Floors computer vision Motion detection Vehicle detection Image analysis

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Detection of matchings in a sequence of underwater images through texture analysis

Detection of matchings in a sequence of underwater images th...

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IEEE International Conference on Image Processing

作者： R. Garcia C. Xevi J. Battle Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain Computer Vision and Robotics Group E.P.S. Girona Spain Universitat de Girona Girona Catalunya ES

This paper presents an approach to ameliorate the reliability of the correspondence points relating two consecutive images of a sequence. The images are especially difficult to handle, since they have been acquired by a camera looking at the sea floor while carried by an underwater robot. Underwater images are usually difficult to process due to light absorption, changing image radiance and lack of well-defined features. A new approach based on gray-level region matching and selective texture analysis significantly improves the matching reliability.

关键词： Underwater tracking Image analysis Image sequence analysis Image texture analysis Robot vision systems Cameras Motion detection Vehicle detection Underwater vehicles Testing

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Robot homing based on corner tracking in a sequence of panoramic images

Robot homing based on corner tracking in a sequence of panor...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： A.A. Argyros K.E. Bekris S.C. Orphanoudakis Computer Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas FORTH Crete Greece

ISBN: (纸本)0769512720

In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panoramic camera. As the robot departs from its initial position, it tracks characteristic features of the environment (corners). As soon as homing is activated, the robot selects intermediate target positions on the original path. These intermediate positions (IPs) are then visited sequentially, until the home position is reached. For the robot to move between two consecutive IPs, it is only required to establish correspondence among at least three corners. This correspondence is obtained through a feature tracking mechanism. The proposed homing scheme is based on the extraction of very low-level sensory information, namely the bearing angles of corners, and has been implemented on a robotic platform. Experimental results show that the proposed scheme achieves homing with a remarkable accuracy, which is not affected by the distance traveled by the robot.

关键词： Robot kinematics Robot sensing systems Insects Robot vision systems Navigation Orbital robotics computer vision Laboratories computer science Information resources

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A televiewing system for multiple simultaneous customized perspectives and resolutions

A televiewing system for multiple simultaneous customized pe...

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International Conference on Intelligent Transportation

作者： B. Hall Kohsia Huang M. Trivedi Computer Vision and Robotics Research Laboratory CVRR University of California La Jolla CA USA

Recent innovations in real-time machine vision, distributed computing, software architectures and high-speed communication are expanding the available technology for intelligent system development. These technologies allow the realization of intelligent systems that provide the capabilities for a user to experience events from remote locations in an interactive way. In this paper, we describe research aimed at the realization of a powerful televiewing system applied to the traffic incident detection and monitoring needs of today's highways. Sensor clusters utilizing both rectilinear and omni-directional cameras provide an interactive, real-time, multi-resolution televiewing interface to emergency response crews. Ultimately, this system will have a direct impact on reducing incident-related highway congestion by improving the quality of information to which emergency personnel have access.

关键词： Intelligent systems Machine intelligence Intelligent sensors Road transportation Technological innovation Real time systems Machine vision Distributed computing Software architecture Remote monitoring

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Articulated body posture estimation from multi-camera voxel data

Articulated body posture estimation from multi-camera voxel ...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： I. Mikic M. Trivedi E. Hunter P. Cosman Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California La Jolla CA USA

ISBN: (纸本)0769512720

We present a framework for articulated body model acquisition and tracking from voxel data. A 3D voxel reconstruction of the person's body is computed from silhouettes extracted from four cameras. The model acquisition process is fully automated. In the first frame, body parts are located sequentially. The head is located first, since its shape and size are unique and stable. Other parts are found by sequential template growing and fitting. This initial estimate of body part locations, sizes and orientations is then used as a measurement for the extended Kalman filter which ensures a valid articulated body model. The same filter, with a slightly modified state and state transition matrix, is then used for tracking. The performance of the system has been evaluated on several video sequences with promising results.

关键词： Cameras Image reconstruction Biological system modeling Data mining computer vision Robot vision systems Head Shape Filters Image segmentation

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Inverse finite element characterization of soft tissues 4th

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4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Kauer, M. Vuskovic, V. Dual, J. Szekely, G. Bajka, M. Centre of Mechanics ETH Zurich Zurich8092 Switzerland Institute of Robotics ETH Zurich Zurich8092 Switzerland Computer Vision Group ETH Zurich Zurich8092 Switzerland Department of Gynaecology University Hospital Zurich8091 Switzerland

ISBN: (纸本)3540426973

In this work a tissue aspiration method for the in-vivo determination of biological soft tissue material parameters is presented. An explicit axisymmetric finite element simulation of the aspiration experiment is used together with a Levenberg-Marquardt algorithm to estimate the material model parameters in an inverse parameter determination process. Soft biological tissue is modelled as a viscoelastic, non-linear, nearly incompressible, isotropic continuum. Viscoelasticity is accounted for by a quasi-linear formulation. The aspiration method is validated experimentally with a synthetic material. In-vivo (intra-operatively during surgical interventions) and ex-vivo experiments were performed on human uteri. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Viscoelasticity

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