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International Conference on Intelligent Transportation

作者： S. Rogers N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

This paper describes a system for monitoring bicycle activity in sequences of gray scale images acquired by a stationary camera. The system is suitable for use in applications that aim to increase the efficiency and safety of existing traffic systems. One such application is to determine usage and congestion of bicycle path. The output of the system is a count of the number of bicycles detected in the image sequence. The system is model-based in the sense that it uses a simple model of two circular objects separated by a relatively known distance. Our system uses four levels of abstraction: raw images, blobs, edge images, and the bicycle model. The system was implemented on a dual Pentium computer equipped with a Matrox imaging board and achieved a peak performance of 8 frames per second. Experimental results based on outdoor scenes have shown promising results for a variety of weather conditions.

关键词： Bicycles computer vision Application software computerized monitoring Cameras Safety Traffic control Image sequences Image edge detection Layout

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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Map building with ultrasonic sensors of indoor environments using neural networks

Map building with ultrasonic sensors of indoor environments ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： F.J. Toledo J.D. Luis L.M. Tomas M.A. Zamora H. Martinez Department of Computer Science and Elect University de Murcia Murcia Spain Vision and Robotics Group University of Murcia Murcia Spain

Map building and position estimation are basic tasks in mobile robot navigation with path planning. A method to generate a global map of the vehicle work environment using ultrasonic sensors is developed in this paper. Depending on the physical properties of the walls that form the room where the robot is navigating, sonar sensors show different behaviours. A neural network is utilized to interpret the range readings of ultrasonic sensors in the different environments. A local map composed of squared cells is formed through the neural network that gives the occupancy probabilities for each cell. Finally, a global map is built achieving integration of different views of the environment using Bayes' rule. Results of the method implementation in the construction in a specular environment as well as in rough wall environments are shown in this paper.

关键词： Indoor environments Neural networks Robot sensing systems Reflection Mobile robots Sonar navigation Path planning Robustness Testing Sonar measurements

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Object detection using colour

Object detection using colour

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International Conference on Pattern Recognition

作者： N. Duffy J. Crowley G. Lacey Projet PRIMA INRIA-Rhones-Aples Montbonnot France Computer Vision and Robotics Group Trinity College Dublin Dublin Ireland

ISBN: (纸本)0769507506

Presents a method to detect objects in images using colour. The system learns by example how characteristic each discrete colour is of a class of objects using two sets of training images; one set is of images known to contain at least one target object, while the other set is of images known to be free of the target objects. Using the training images a lookup table is constructed, in which each discrete colour is assigned a value which approximates the probability that pixels with this discrete colour are part of a target object. This table is called the colour profile. To detect the presence of target objects in a new image the colour profile values are back projected onto the image and the image is thresholded. A suitable threshold is calculated automatically and the system is able to recognize if the target objects are not able to be distinguished by the colour profile method. Applying the colour profiling approach to a difficult inspection task has shown it to be a robust, accurate and fast solution.

关键词： Object detection Histograms Pixel Inspection Color computer vision Robot vision systems Educational institutions Target recognition Robustness

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Friendly interface for objects selection in a robotized kitchen

Friendly interface for objects selection in a robotized kitc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Casals X. Cufi J. Freixenet J. Marti X. Munoz Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain Computer Vision and Robotics Group EIA-IIiA University of Girona Catalonia Spain

This paper presents an interface for the interaction between a human and an adapted kitchen where different elements, including a robot, have to be controlled. After the global structure of the interface is described a more detailed explanation is presented on the way the interface offers the user an easy and friendly way to select the desired objects and to provide their position to the robot for their manipulation.

关键词： robotics and automation Robot vision systems computer vision Control engineering computing Human robot interaction Automatic control Research and development Ergonomics Cameras Layout

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Reducing the complexity of geometric selective disassembly

Reducing the complexity of geometric selective disassembly

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.A. Garcia A. Larre B. Lopez A. Oller Department of Computer Science and Mathematics Intelligent Robotics and Computer Vision Group Tarragona Spain Department of Electrical Electronic and Automation Engineering Rovira i Virgili University Tarragona Spain

This paper presents an efficient technique for determining a low-cost disassembly sequence suitable to extract a subset of s components from an assembly containing n components, e of which are exterior (e/spl Lt/n). The most efficient solution to this so-called geometric selective disassembly problem is the wave propagation algorithm, which is reported to have a computational complexity of O(sn/sup 2/). Instead, the complexity of the proposed algorithm is O(enlogn) when s/spl Lt/n, and O(sn) when s/spl sime/n. Experimental results with synthetic 3D assemblies are presented.

关键词： Assembly Intelligent robots robotics and automation Computational complexity Recycling Fasteners Polynomials Costs Robot vision systems computer vision

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Complementary linear biases in spatial derivative estimation for improving geometry-driven diffusion processes

Complementary linear biases in spatial derivative estimation...

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International Conference on Pattern Recognition

作者： W.D. Toczyski N.P. Papnikolopoulos Artificial Intelligence Robotics vision laboratory Department of computer science and Engineering University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

ISBN: (纸本)0769507506

This paper introduces a broadly applicable technique for visibly improving the digitized, grey-level outputs produced by a host of iterative geometric diffusion methods. By replacing standard, central-difference estimates of discrete spatial gradients with alternating image derivative estimates that are offset by known, complementary biases, errors accumulated during iteration are reduced and the quality of geometric diffusions is improved. This unexpected synergy occurs at no added computational cost over central difference methods. Very simple to implement, the innovation is introduced at the level of spatial derivatives; hence, for a given process, any derived higher level mathematical properties-for example, group invariance or scale-space properties-can be preserved.

关键词： Anisotropic magnetoresistance Equations Geometry Image motion analysis Optical filters Pixel Diffusion processes Artificial intelligence Intelligent robots Robot vision systems

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Estimation of acoustical room transfer functions

Estimation of acoustical room transfer functions

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IEEE Conference on Decision and Control

作者： T. Gustafsson J. Vance H.R. Pota B.D. Rao M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA School of Electical Engineering University of New South Wales Canberra Australia

ISBN: (纸本)0780366387

Presents a method to obtain room transfer functions for applications in the design of intelligent systems for video conferencing. In these applications the acoustical dynamics, for example, affects the quality of the recorded speech signal and the ability to achieve accurate source localization. The first part of the paper gives results on the identification of parameterized room transfer functions. The second part presents a method to extrapolate room transfer functions from the identified models. The extrapolation is achieved by getting a functional form of the transfer function parameters which depends on the speaker and the microphone locations.

关键词： Transfer functions Loudspeakers Microphones Acoustics Videoconference Speech Transient response Partial differential equations Application software computer vision

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Omni-directional vision for robot navigation

Omni-directional vision for robot navigation

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IEEE Workshop on Omnidirectional vision

作者： N. Winters J. Gaspar G. Lacey J. Santos-Victor Computer Vision and Robotics Group. Department of Computer Science University of Dublin Dublin Ireland Instituto Superior Técnico Lisboa Portugal Instituto de Sistemas e Robotica Instituto Superior Tecnico Lisboa Portugal

We describe a method for visual based robot navigation with a single omni-directional (catadioptic) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot's qualitative global position, estimated from a set of omni-directional images obtained during a training stage (compressed using PCA). To deal with illumination changes, an eigenspace approximation to the Hausdorff measure is exploited. We present a method to transform omni-directional images to Bird's Eye Views that correspond to scaled orthographic views of the ground plane. These images are used to locally control the orientation of the robot, through visual servoing. Visual Path Following is used to accurately control the robot along a prescribed trajectory, by using bird's eye views to track landmarks on the ground plane. Due to the simplified geometry of these images, the robot's pose can be estimated easily and used for accurate trajectory following. Omni-directional images facilitate landmark based navigation, since landmarks remain visible in all images, as opposed to a small field-of-view standard camera. Also, omni-directional images provide the means of having adequate representations to support both accurate or qualitative navigation. Results are described in the paper.

关键词： Robot vision systems Navigation Cameras Image coding Principal component analysis Lighting Visual servoing Robot control Trajectory Computational geometry

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An Overview on Behaviour-Based Methods for AUV Control

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IFAC Proceedings Volumes 2000年第21期33卷 141-146页

作者： M. Carreras J. Batlle P. Ridao G.N. Roberts Computer Vision and Robotics Group University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP20 5XR UK

Traditionally, deliberative reasoning methods based on a world model have been used to guide Autonomous Vehicles. Nevertheless, due to serious problems when dealing with complex and changing environments the alternative approach of reactive architectures appeared, directly coupling perception and action without any world representation. This paper describes the characteristics and variants of reactive architectures as well as four of the most suitable ones to guide Autonomous Underwater Vehicles: Schema-based approach, Subsumption, Process Description Language and Action Selection Dynamics. Each architecture is described and evaluated using an underwater simulator with an AUV model.

关键词： Autonomous Vehicles Artificial Intelligence Control Systems Marine Systems Robot navigation Vehicle Simulation

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