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检索条件"机构=Computer Vision and Robotics"

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Teaching nutrition and healthy eating by using multimedia with a Kompai robot: Effects of stress and user's personality

Teaching nutrition and healthy eating by using multimedia wi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Arturo Cruz-Maya Adriana Tapus U2IS ENSTA-ParisTech Robotics and Computer Vision Lab Palaiseau Cedex France

ISBN: (纸本)9781509047192

Teaching using multimedia is a field where social robots can contribute in a great manner. Some works in humancomputer interaction and multimedia learning demonstrated that synthesized voice impairs user's learning. In this work, we investigate the importance of the system's voice (synthesized vs. human), of the embodiment (robot vs. tablet), and of the user's gender and personality on learning nutrition and healthy eating tips. The results obtained with the Kompai robot (developed by Robosoft) show that the performance on learning is better with the human voice. Moreover, the results show that user's personality plays an important role in learning. Individuals with high Neuroticism score performed better in the multimedia learning session than individuals with low Neuroticism score. Also, the stress of male participants was higher in the condition with the robot and synthesized voice than in the other conditions These findings can be used for better developing teaching systems tailored to the user's profile.

关键词： Robots Multimedia communication Human voice Stress Senior citizens Education Pediatrics

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Hidden Hands: Tracking Hands with an Occlusion Aware Tracker

Hidden Hands: Tracking Hands with an Occlusion Aware Tracker

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IEEE Conference on computer vision and Pattern Recognition Workshops

作者： Akshay Rangesh Eshed Ohn-Bar Mohan M. Trivedi Computer Vision and Robotics Research Lab University of California San Diego La Jolla CA

This work presents an occlusion aware hand tracker to reliably track both hands of a person using a monocular RGB camera. To demonstrate its robustness, we evaluate the tracker on a challenging, occlusion-ridden naturalistic driving dataset, where hand motions of a driver are to be captured reliably. The proposed framework additionally encodes and learns tracklets corresponding to complex (yet frequently occurring) hand interactions offline, and makes an informed choice during data association. This provides positional information of the left and right hands with no intrusion (through complete or partial occlusions) over long, unconstrained video sequences in an online manner. The tracks thus obtained may find use in domains such as human activity analysis, gesture recognition, and higher-level semantic categorization.

关键词： Tracking Detectors Vehicles Reliability Cameras Feature extraction Conferences

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AEROSTACK: An architecture and open-source software framework for aerial robotics

AEROSTACK: An architecture and open-source software framewor...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Ramón A. Suárez Fernández Hriday Bavle Carlos Sampedro Martin Molina Jesus Pestana Pascual Campoy Consejo Superior de Investigaciones Cientificas Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Spain Technical University of Madrid (UPM) Spain Computer Vision Group CSIC-UPM Spain

ISBN: (纸本)9781467393355

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack's system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack's open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS; a collection of ready-to-use and flight proven modular components that can be reused by the users and developers; and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission.

关键词： computer architecture Feature extraction Software Hardware Robot sensing systems

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Dynamic perimeter surveillance with a team of robots

Dynamic perimeter surveillance with a team of robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： David Saldaña Reza Javanmard Alitappeh Luciano C. A. Pimenta Renato Assunção Mario F. M. Campos Universidade Federal de Minas Gerais (UFMG) MG Brazil Computer Science Department Computer Vision and Robotics Laboratory (VeRLab)

In this paper, we propose a motion planning method to escort a set of agents from one place to a goal in an environment with obstacles. The agents are distributed in a finite area, with a time-varying perimeter, in which we put multiple robots to patrol around it with a desired velocity. Our proposal is composed of two parts. The first one generates a plan to move and deform the perimeter smoothly, and as a result, we obtain a twice differentiable boundary function. The second part uses the boundary function to compute a trajectory for each robot, we obtain each resultant trajectory by first solving a differential equation. After receiving the boundary function, the robots do not need to communicate among themselves until they finish their trajectories. We validate our proposal with simulations and experiments with actual robots.

关键词： Shape Planning Trajectory Robot kinematics Dynamics Surveillance

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D-HAZY: A DATASET TO EVALUATE QUANTITATIVELY DEHAZING ALGORITHMS

D-HAZY: A DATASET TO EVALUATE QUANTITATIVELY DEHAZING ALGORI...

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IEEE International Conference on Image Processing

作者： Cosmin Ancuti Codruta O. Ancuti Christophe De Vleeschouwer ICTEAM Universite Catholique de Louvain Belgium Computer Vision and Robotics Group University of Girona Spain

ISBN: (纸本)9781467399623

Dehazing is an image enhancing technique that emerged in the recent years. Despite of its importance there is no dataset to quantitatively evaluate such techniques. In this paper we introduce a dataset that contains 1400+ pairs of images with ground truth reference images and hazy images of the same scene. Since due to the variation of illumination conditions recording such images is not feasible, we built a dataset by synthesizing haze in real images of complex scenes. Our dataset, called D-HAZY, is built on the Middelbury [1] and NYU Depth [2] datasets that provide images of various scenes and their corresponding depth maps. Due to the fact that in a hazy medium the scene radiance is attenuated with the distance, based on the depth information and using the physical model of a hazy medium we are able to create a corresponding hazy scene with high fidelity. Finally, using D-HAZY dataset, we perform a comprehensive quantitative evaluation of several state of the art single-image dehazing techniques.

关键词： Atmospheric modeling Mathematical model Image color analysis Image restoration Computational modeling Observers Attenuation image colour analysis Dataset Atmospheric models image restoration technique Dehazing Computational modeling images Mathematical Model Observers Attenuation Attenuation state of the art

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The major error in the camera model is the tilted axis assumption correction of a systematic perspective bias in the camera model

The major error in the camera model is the tilted axis assum...

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IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Martin, Guy Robotics and Computer Vision Montreal Canada

ISBN: (纸本)9781479987573

The tilted assumption, a remnant of analog cameras, is still in use. It seeks to compensate the off squareness of the image plane with the lens axis, but in fact creates a systematic shape alteration by introducing a scale variation in the image, and adds shear with the use of a skew parameter. It results in an image center bias which in turn offsets every single parameter estimate in the camera model. We disclose our own exact solution to the internal camera model, modeling the image plane as a pure projection, our related camera calibration method, and discuss the various improvements resulting from our find in almost every performance aspect of digital imaging. © 2015 IEEE.

关键词： Image enhancement

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NIGHT-TIME DEHAZING BY FUSION

NIGHT-TIME DEHAZING BY FUSION

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IEEE International Conference on Image Processing

作者： Cosmin Ancuti Codruta O. Ancuti Christophe De Vleeschouwer Alan C. Bovik ICTEAM Universite Catholique de Louvain Computer Vision and Robotics Group University of Girona Department of Electrical and Computer Engineering The University of Texas at Austin

ISBN: (纸本)9781467399623

We introduce an effective technique to enhance night-time hazy scenes. Our technique builds on multi-scale fusion approach that use several inputs derived from the original image. Inspired by the dark-channel [1] we estimate night-time haze computing the airlight component on image patch and not on the entire image. We do this since under night-time conditions, the lighting generally arises from multiple artificial sources, and is thus intrinsically non-uniform. Selecting the size of the patches is non-trivial, since small patches are desirable to achieve fine spatial adaptation to the atmospheric light, this might also induce poor light estimates and reduced chance of capturing hazy pixels. For this reason, we deploy multiple patch sizes, each generating one input to a multiscale fusion process. Moreover, to reduce the glowing effect and emphasize the finest details, we derive a third input. For each input, a set of weight maps are derived so as to assign higher weights to regions of high contrast, high saliency and small saturation. Finally the derived inputs and the normalized weight maps are blended in a multi-scale fashion using a Laplacian pyramid decomposition. The experimental results demonstrate the effectiveness of our approach compared with recent techniques both in terms of computational efficiency and quality of the outputs.

关键词： Night-time Hazy Dehazing Multi-scale fusion Dehazing Fusion reactions FUSION fusion (melting) Fusion, biological image patch original image multi-scale Computational efficiency

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Identification of emergent leaders in a meeting scenario using multiple kernel learning 2

Identification of emergent leaders in a meeting scenario usi...

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2nd Workshop on Advancements in Social Signal Processing for Multimodal Interaction, ASSP4MI 2016

作者： Beyan, Cigdem Capozzi, Francesca Becchio, Cristina Murino, Vittorio Pattern Analysis and Computer Vision Istituto Italiano di Tecnologia Genova Italy Department of Psychology McGill University MontrealQC Canada Department of Psychology University of Turin Italy Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Genova Italy Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9781450345576

In this paper, an effective framework for detection of emergent leaders in small group is presented. In this scope, the combination of different types of nonverbal visual features;the visual focus of attention, head activity and body activity based features are utilized. Using them together ensued significant results. For the first time, multiple kernel learning (MKL) was applied for the identification of the most and the least emergent leaders. Taking the advantage of MKL's capability to use different kernels which corresponds to different feature subsets having different notions of similarity, significantly improved results compared to the state of the art methods were obtained. Additionally, high correlations between the majority of the features and the social psychology questionnaires which are designed to estimate the leadership or dominance were demonstrated. © 2016 ACM.

关键词： Surveys

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Real-time monocular obstacle avoidance using underwater dark channel prior

Real-time monocular obstacle avoidance using underwater dark...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

作者： Drews, Paulo Hernández, Emili Elfes, Alberto Nascimento, Erickson R. Campos, Mario Autonomous Systems Laboratory Data61-CSIRO Brisbane Australia Computer Vision and Robotics Laboratory Dep. de Ciência da Computação Univ. Federal de Minas Gerais - UFMG Belo Horizonte Brazil NAUTEC Intelligent Robotics and Automation Group Univ. Federal do Rio Grande - FURG Rio Grande Brazil

ISBN: (纸本)9781509037629

In this paper we propose a new vision-based obstacle avoidance strategy using the Underwater Dark Channel Prior (UDCP) that can be applied to any Unmanned Underwater Vehicle (UUV) equipped with a simple monocular camera and minimal on-board processing capabilities. For each incoming image, our method first computes a relative depth map to estimate the obstacles nearby. Then, the map is segmented and the most promising Region of Interest (RoI) is identified. Finally, an escape direction is computed within the RoI and a control action is performed accordingly to avoid the obstacles. We tested our approach on a video sequence in a natural environment and compared it against a stateofthe-art method showing better performance, specially in light changing conditions. We also provide online results on a low-cost Remotely Operated Vehicle (ROV) in a controlled environment. © 2016 IEEE.

关键词： Remotely operated vehicles

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Global alignment of a multiple-robot photomosaic using opto-acoustic constraints 4

Global alignment of a multiple-robot photomosaic using opto-...

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4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2015

作者： Campos, Ricard Gracias, Nuno Palomer, Albert Ridao, Pere Computer Vision and Robotics Group University of Girona Spain

Distributing the mapping problem over several vehicles provides the ability to survey an area in fewer time than with a single one. However, the communications required to maintain the vehicles in formation underwater are highly complex. We present a global alignment method for multi-AUV trajectory optimization. We take advantage of the acoustic messages passed between vehicles as well as of the further constraints posed by optical matches between images in some of the vehicles in the formation, both within a single robot and from different ones. By merging all these constraints, we can obtain both an optical georeferenced mosaic of the surveyed area and a joint optimization of the poses of the vehicles in the formation at each time. We present and discuss an application of the method on a real dataset collected within the MORPH EU-FP7 project. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Mapping

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