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1st International Workshop on Self-Adaptive Software, IWSAS 2000

作者： Karuppiah, Deepak Deegan, Patrick Araujo, Elizeth Yang, Yunlei Holness, Gary Zhu, Zhigang Lerner, Barbara Grupen, Roderic Riseman, Edward Dept. of Computer Science Computer Vision Research Laboratory University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Laboratory for Perceptual Robotics University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Lab. for Advanced Software Eng. Research University of Massachusetts AmherstMA01003 United States

ISBN: (纸本)3540416552

Robot control in nonlinear and nonstationary run-time environments presents challenges to traditional software methodologies. In particular, robot systems in "open" domains can only be modeled probabilistically and must rely on run-time feedback to detect whether hardware/software configurations are adequate. Modifications must be effected while guaranteeing critical performance properties. Moreover, in multi-robot systems, there are typically many ways in which to compensate for inadequate performance. The computational complexity of high dimensional sensorimotor systems prohibits the use of many traditional centralized methodologies. We present an application in which a redundant sensor array, distributed spatially over an office-like environment can be used to track and localize a human being while reacting at run-time to various kinds of faults, including: hardware failure, inadequate sensor geometries, occlusion, and bandwidth limitations. Responding at run-time requires a combination of knowledge regarding the physical sensorimotor device, its use in coordinated sensing operations, and high- level process descriptions. We present a distributed control architecture in which run-time behavior is both preanalyzed and recovered empirically to inform local scheduling agents that commit resources autonomously subject to process control specifications. Preliminary examples of system performance are presented from the UMass Self-Adaptive Software (SAS) platform. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Process control

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A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim In-So Kweon Department of Electrical Engineering and Computer Science Robotics and Computer Vision Laboratory KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.

关键词： Robot vision systems Cameras Calibration Mobile robots Application software computer vision Laboratories computer science Layout Robot kinematics

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Implementation of a Real-Time Target Tracking Behaviour Using Video Sensors

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IFAC Proceedings Volumes 2001年第7期34卷 517-521页

作者： V. lla P. Ridao J.De La Cruz J. Batlle Computer Vision and Robotics Group Institute of Informatics and Applications. University of Girona Edifici Politecnica ll Campus Montilivi 17071 Girona Spain

Using software OS, real-time operation is constrained by acquisition and preprocessing tasks of input signals. In this way, this paper presents an implementation of a real time target tracking behaviour, from snapped images of the environment, as an example of how to take advantage of real-time hardware devices as a helpful systems for control architectures. A specific board based on FPGA/DSP processors has been used in order to reach this goal. The system has been thought for a marine and underwater environment and it has been tested using GARBI autonomous underwater vehicle. The implemented behaviours allow the robot to navigate autonomously and follow a diver.

关键词： behaviour binary image autonomous vehicle computer control

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Lateral control of an aerial unmanned robot using visual servoing techniques

Lateral control of an aerial unmanned robot using visual ser...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： G.F. Silveira J. Reginaldo H. Carvalho M.K. Madrid S.S. Bueno P. Rives Robotics and Computer Vision Laboratory/ITI Campinas SP Brazil the State University of Campinas (UNICAMP) Robotics Lab Campinas SP Brazil Patrick Rives is with INRIA Sophia-Antipolis France

This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction matrix related to line features extracted from an on-board camera as feedback signals. An output LQR controller for the visual servo control is designed using the lateral dynamic model of the airship. The proposed approach is validated using a realistic simulator of the AS-800 unmanned airship.

关键词： Visual servoing Aerodynamics Vehicle dynamics Robot vision systems Automatic control Servosystems Robot sensing systems robotics and automation Unmanned aerial vehicles Cameras

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Development of a mammographic analysis system using computer vision techniques 2

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2nd International Symposium on Medical Data Analysis, ISMDA 2001

作者： Martí, J. Planiol, P. Freixenet, J. Español, J. Golobardes, E. University of Girona Computer Vision and Robotics Group – IIiA Campus de Montilivi Girona17071 Spain University Hospital of Girona "Dr. Josep Trueta" Department of Oncology Avda. de Fraņca s/n Girona17071 Spain Universitat Ramon Llull Computer Science Department Passeig Bonanova 8 Barcelona08022 Spain

ISBN: (纸本)3540427341

This work presents an application intended to work as a second reader in Radiology Services for digital mammograms, which makes use of several computer vision algorithms. Although the presented prototype basically focuses on the detection and the characterization of microcalcifications, the system has the capability to grow up by adding new abnormalities (e.g. masses) or new classification patterns. Experimental results of the system’s performance have been obtained through digital mammograms of the Regional Health Area of Girona. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Mammography

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Visual attention-based robot navigation using information sampling

Visual attention-based robot navigation using information sa...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： N. Winters J. Santos-Victor Computer Vision and Robotics Group Department of Computer Science University of Dublin-Trinity College Dublin Ireland Instituto de Sistemas e Robótica Instituto Superior Técnico Lisboa Portugal

Presents a method whereby an autonomous mobile robot automatically selects the most informative data from a set of images acquired a priori, using a statistical method termed information sampling. These data could be a single pixel or a number scattered throughout an image. This information is then used to build a topological map of the environment. Our sole input data are omnidirectional images obtained from a catadioptric panoramic camera. Experimental results show that by using only the best data the topological position of a robot, visually maneuvering through a simple indoor environment, can easily be determined.

关键词： Navigation Sampling methods Image sampling robotics and automation Mobile robots Statistical analysis Pixel Scattering Robot vision systems Cameras

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O 2 CA 2 : A New Hybrid Control Architecture for a Low Cost AUV

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IFAC Proceedings Volumes 2001年第7期34卷 311-316页

作者： P. Ridao M. Carreras J. Batlle J. Amat Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Department of Automatic Control and Computer Engineering Politechnical University of Catalunya. Pau Gargallo n°5 08028 Barcelona (Spain).

The Object Oriented Control Architecture for Autonomy (O 2 CA 2 ) is a control architecture being developed at the University of Girona for the GARBI underwater vehicle. Conceived as a hybrid, it is organised in three layers (Deliberative, Control Execution and Reactive) merging the deliberation mechanisms of planning with reactive behaviours in charge of controlling the robot. The aim of this paper is to provide an overall description of the whole architecture and an in depth description of the Reactive-layer. The concepts of the architecture have been tested with the simulation of a simple mission consisting of navigating through a sequence of way-points while avoiding contact with obstacles.

关键词： Autonomous Vehicles Control architectures behaviour fuzzy systems guidance navigation marine systems

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Positioning an underwater vehicle through image mosaicking

Positioning an underwater vehicle through image mosaicking

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Garcia J. Batlle X. Cufi J. Amat Computer Vision and Robotics Group IIiA University of Girona E. P. S. P-II Girona Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Barcelona Spain

ISBN: (纸本)0780365763

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle.

关键词： Underwater vehicles Cameras Motion detection Navigation Oceans Floors Underwater tracking Lighting Optical scattering Feature extraction

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Range-space approach for generalized multiple baseline stereo and direct virtual view synthesis

Range-space approach for generalized multiple baseline stere...

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IEEE Workshop on Stereo and Multi-Baseline vision (SMBV)

作者： K.C. Ng M. Trivedi H. Ishiguro AST La Jolla Laboratory STMicroelectronics Inc. San Diego CA USA Computer Vision & Robotics Research Laboratory University of California San Diego CA USA Department of Computer and Communication Sciences Wakayama University Japan

ISBN: (纸本)0769513271

In this paper a new "range-space" approach, for rendering visual models using a network of multiple omnidirectional vision sensors (ODVS) is presented. This integrated approach allows for simultaneous extraction of 3-D range as well as visual models. The approach requires three distinct steps of analyzing multiple ODVS video input streams: 1) Search, 2) Match, and 3) Render. At the output, a user-specified view is rendered. This three-step process does not require 3D model of the scene to be provided.

关键词： Stereo vision Cameras Layout Pixel computer vision Robustness Legged locomotion Robot sensing systems Robot vision systems computer networks

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A fast vision-based road following strategy applied to the control of aerial robots

A fast vision-based road following strategy applied to the c...

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Brazilian Symposium on computer Graphics and Image Processing (SIBGRAPI)

作者： G.F. Silveira J.R.H. Carvalho M.K. Madrid P. Rives S.S. Bueno State University of Campinas-UNICAMP Sao Paulo Brazil Robotics and Computer Vision Laboratory ITI Sao Paulo Brazil I.N.R.I.A. Sophia Antipolis La Valbonne France

The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the nonholonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an interaction matrix. Simulation results validating the strategy are shown.

关键词： Robot control Robot vision systems Roads Robot sensing systems Feedback Image sensors Visual servoing Jacobian matrices robotics and automation Automatic control

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