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检索条件"机构=Computer Vision and Robotics"

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A 3D local energy surface detector for confocal microscope imalges 3

A 3D local energy surface detector for confocal microscope i...

引用

3rd Australian and New Zealand Conference on Intelligent Information Systems, ANZIIS 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology United States Robotics and Vision Research Group Department of Computer Science University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)0864224303

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature profiles: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters. The filters are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and synthetic 3D image volumes. © 1995 IEEE. All rights reserved.

关键词： Microscopes

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Moving furniture with teams of autonomous robots

Moving furniture with teams of autonomous robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Rus B. Donald J. Jennings Department of Computer Science Robotics Laboratory Hanover NH USA Department of Computer Science Robotics and Vision Laboratory Cornell University Ithaca NY USA

The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ask whether planning, global control, and explicit communication are necessary for cooperatively changing the pose of objects. The authors answer in the negative and present, as witnesses, four cooperative manipulation protocols that use different amounts of state, sensing, and communication. The authors analyze these protocols in the information invariant framework. The authors formalize the notion of resource tradeoffs for robot protocols and give the tradeoffs for the specific protocols discussed here.

关键词： Protocols Orbital robotics Robot sensing systems Robotic assembly Solid modeling computer science Laboratories Mobile robots Shape Parallel robots

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Feature detection using oriented local energy for 3D confocal microscope images 3rd

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3rd International computer Science Conference, ICSC 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology The University of Western Australia NedlandsWA6907 Australia Robotics and Vision Research Group Department of Computer Science The University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)9783540606970

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature types: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters that are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and a synthetic 3D image volume. These results are compared with those from a 3D implementation of the Sobel edge detecto. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Feature extraction

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Categorical color projection for robot road following

Categorical color projection for robot road following

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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Pedestrian tracking from a stationary camera using active deformable models

Pedestrian tracking from a stationary camera using active de...

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IEEE Symposium on Intelligent Vehicle

作者： M.J. Sullivan C.A. Richards C.E. Smith O. Masoud N.P. Papanikolopoulos Artificial Intelligence Department of Computer Science Robotics and Vision Laboratory University of Minnesota Minneapolis MN USA

The system proposed in this paper uses active deformable models to track pedestrians moving in dynamic real-world scenes. First, figure pixels are separated from a fixed or slowly evolving ground image. Then, an initial segmentation process identifies interesting pixel blobs for tracking. The output of the segmentation process is used to choose the starting position of the control points of the active deformable model. Once tracking has begun, the control points are updated at frame rates by minimizing an energy function involving the relative position of model points, image data, and the characteristics of figure pixels.

关键词： Cameras Deformable models Biological system modeling Layout Humans Motion analysis computer vision Dynamic programming Leg Legged locomotion

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vision-based intelligent control of transportation systems

Vision-based intelligent control of transportation systems

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C.A. Richards C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

In response to the overcrowding of transportation systems, there has been an increase in the emphasis placed upon intelligent vehicle/highway systems (IVHS). Whether the application is keeping a safe distance between vehicles on highways or allowing a pedestrian to safely cross a street, environmental sensing and control play a crucial role in IVHS applications. In this paper we present robust visual detection and tracking techniques for IVHS applications, where computer vision may be the only sensor used or a part of a larger multi-sensor system. We have selected the application of pedestrian detection and tracking to demonstrate that the controlled active vision framework can provide precisely the type of information required to effectively manage traffic situations.

关键词： Intelligent control Intelligent transportation systems Application software Road transportation Intelligent vehicles Road vehicles Vehicle safety Robustness computer vision Sensor systems and applications

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Grasping of static and moving objects using a vision-based control approach

Grasping of static and moving objects using a vision-based c...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Recent work combining robotics with vision has emphasized an active vision paradigm where the system changes the pose of the camera to improve environmental knowledge or to establish and presence a desired relationship between the robot and objects in the environment. Much of this work has concentrated upon the active observation of objects by the robotic agent. In this paper we present extensions to the controlled active vision framework that focus upon the autonomous grasping of a moving or static object in the manipulator's workspace. Our work extends the capabilities of an eye-in-hand system beyond those as a "pointer" or a "camera orienter" to provide the flexibility required to robustly interact with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota robotic visual tracker to automatically select object features, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in the grasping of a moving or static object.

关键词： Robot sensing systems Robot vision systems Cameras Manipulators Intelligent robots Grippers Charge-coupled image sensors Artificial intelligence Laboratories computer science

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The automatic detection and visual tracking of moving objects by eye-in-hand robotic systems

The automatic detection and visual tracking of moving object...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： C.A. Richards N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Traditionally, the robotic visual servoing/tracking problem has received attention from researchers for its interesting control and computer vision issues. However many visual servoing tasks also require the ability to automatically detect moving objects. Until recently, very few efforts have been reported in the area of automatic detection of servoing targets. This paper presents a robust detection scheme for use in robotic visual servoing experiments. It detects and tracks moving objects through the use of a "figure/ground" approach. Experimentation has shown the feasibility of this approach under general conditions. This paper provides a description of the authors system implementation in an experimental robotic system, along with a collection of results. The paper also contains a discussion of problems and issues for future work.

关键词： Object detection robotics and automation Visual servoing Robot vision systems Intelligent robots Robot sensing systems Target tracking Automatic control Feedback loop Adaptive control

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A system for automatically detecting and tracking objects using a visually-guided manipulator

A system for automatically detecting and tracking objects us...

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IEEE International Conference on Systems, Man and Cybernetics

作者： C.A. Richards N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Department of Computer Science University of Stanford Stanford CA USA

This paper presents a framework for the automatic visual detection of moving objects in robotic servoing tasks. The paper describes a "figure/ground" scheme which is able to perform detection without making many assumptions that would limit the generality of the approach. We describe optimizations which allow for real-time execution of the frame-differencing that is the basis of our framework. Experimentation has demonstrated that the results of the visual detection can provide information helpful in focusing attention on a specific subset of objects. Furthermore, we show how the detection technique can be integrated with existing methods for visual tracking. We mention some details that have been addressed in order to apply these theories to an actual robotic system, including the use of an optimal controller Our paper explains how this framework has been implemented in our experimental robotic system MRVT, and it describes several results obtained from this experimentation.

关键词： Object detection Pixel robotics and automation Manipulators Intelligent robots Robot vision systems computer science Visual servoing Optical computing Artificial intelligence

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

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IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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