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检索条件"机构=Computer Vision and Robotics"

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Fusion of thermal infrared and visible spectrum for robust pedestrian tracking

Fusion of thermal infrared and visible spectrum for robust p...

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Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications XI

作者： Akhloufi, Moulay A. Porcher, Celia Bendada, Abdelhakim Center of Industrial Robotics and Vision 205 rue Mgr-Bourger Levis QC G6V6Z9 Canada Computer Vision and Systems Laboratory Laval University Quebec City QC G1V 0A6 Canada

ISBN: (纸本)9781628410136

Tracking pedestrians is an area of computer vision that has attracted a lot of interest in recent years. Many of these work was conducted in the visible spectrum. Some work was also conducted in thermal infrared spectrum. The majority of the research work used one spectrum at a time. In this work, we present a fusion framework using thermal infrared and visible spectrums in order to robustly track the detected moving objects. The detected objects are then processed using HOG features in order to classify them as a pedestrian or a non-pedestrian using SVM. The tests were conducted in outdoor scenarios. The obtained results are promising and show the efficiency of the proposed framework. © 2014 SPIE.

关键词： Object detection

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Real-time mosaicing with two-dimensional forward-looking sonar

Real-time mosaicing with two-dimensional forward-looking son...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Natalia Hurtós Sharad Nagappa Narcis Palomeras Joaquim Salvi Computer Vision and Robotics Group (VI-COROB) University de Girona Girona Spain

Forward-looking sonar can be used for underwater mapping when water visibility is poor. The generation of an acoustic mosaic of the environment is of high interest when underwater vehicles are used for surveys or search tasks. Moreover, if the mosaic is generated in real-time it can be used to provide instantaneous location feedback (e.g. to a ROV pilot or to an AUV), to ensure complete coverage of an area or facilitate the immediate location of targets. In this paper, we present an approach for achieving such a real-time mosaicing capability. Our system considers a simplified imaging model and estimates 2D sonar motions from the pairwise registration of sonar frames. The registration is performed by using a Fourier-based technique, avoiding the extraction of features and ensuring a fast implementation. The mosaicing problem is formulated using a pose graph, with the vertices being the sonar image positions and the edges being constraints from the vehicle odometry and the registration of consecutive and non-consecutive frames. The graph is incrementally optimized using the g2o framework and the optimized poses are then used to build the mosaic online. We apply the method on data gathered on real conditions and show that the resulting sonar mosaic closely matches both the offline generated mosaic as well as ground truth measurements while operating under real-time constraints.

关键词： Real-time systems Sonar navigation Optimization Sonar measurements Image edge detection Vehicles

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Active Range-Only Beacon Localization for AUV Homing

Active Range-Only Beacon Localization for AUV Homing

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Guillem Vallicrosa Pere Ridao David Ribas Albert Palomer Underwater Robotics Research Center (CIRS) Computer Vision and Robotics Institute (VICOROB) Universitat de Girona 17071 Girona Spain

ISBN: (纸本)9781479969357

This paper presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, which is based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence. The method is applied to autonomously locate a subsea panel and home to it in order to establish visual contact to later launch a visual servoing based docking task. The method is demonstrated through field experiments in a harbor environment with an Autonomous Underwater Vehicle (AUV) including Ultra-Short Baseline (USBL) ground truth information.

关键词： Autonomous underwater vehicles field experimentation Localization method

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Simultaneous On-line Discovery and Improvement of Robotic Skill Options

Simultaneous On-line Discovery and Improvement of Robotic Sk...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Freek Stulp Laura Herlant Antoine Hoarau Gennaro Raiola Robotics and Computer Vision Ecole Nationale Superieure de Techniques Avancees (ENSTA-ParisTech) France

ISBN: (纸本)9781479969357

The regularity of everyday tasks enables us to reuse existing solutions for task variations. For instance, most door-handles require the same basic skill (reach, grasp, turn, pull), but small adaptations of the basic skill are required to adapt to the variations that exist (e.g. levers vs. knobs). We introduce the algorithm "Simultaneous On-line Discovery and Improvement of Robotic Skills" (SODIRS) that is able to autonomously discover and optimize skill options for such task variations. We formalize the problem in a reinforcement learning context, and use the PI~(BB) algorithm [2] to continually optimize skills with respect to a cost function. SODIRS discovers new subskills, or "skill options", by clustering the costs of trials, and determining whether perceptual features are able to predict which cluster a trial will belong to. This enables SODIRS to build a decision tree, in which the leaves contain skill options for task variations. We demonstrate SODIRS' performance in simulation, as well as on a Meka humanoid robot performing the ball-in-cup task.

关键词： Cost function Covariance matrices Robots Visualization Vectors Clustering algorithms

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A system for the design and development of vision-based multi-robot quadrotor swarms

A system for the design and development of vision-based mult...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Jesús Pestana Paloma de la Puente Ramon Suarez-Fernandez Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition 3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module.

关键词： Unmanned aerial vehicles Visualization Trajectory Robots computers Wireless LAN Open source software

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A vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

A Vision-based Quadrotor Swarm for the participation in the ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jesús Pestana Jose Luis Sanchez-Lopez Paloma de la Puente Adrian Carrio Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the IMAV2013 competition.

关键词： Trajectory Navigation Visualization Collision avoidance Robots computer architecture Ultrasonic variables measurement

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Breast masses identification through pixel-based texture classification

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12th International Workshop on Breast Imaging, IWDM 2014

作者： Torrents-Barrena, Jordina Puig, Domenec Ferre, Maria Melendez, Jaime Diez-Presa, Lorena Arenas, Meritxell Martí, Joan Department of Computer Engineering and Mathematics University Rovira I Virgili Spain Department of Radiology Radboud University Medical Center Netherlands Radiotherapic Oncology Research Group Hospital Universitari Sant Joan de Reus Spain Computer Vision and Robotics Research Institute University of Girona Spain

ISBN: (纸本)9783319078861

Mammographic image analysis plays an important role in computer-aided breast cancer diagnosis. To improve the existing knowledge, this paper proposes a new efficient pixel-based methodology for tumor vs non-tumor classification. The proposed method firstly computes a Gabor feature pool from the mammogram. This feature set is calculated through multi-sized evaluation windows applied to the probabilistic distribution moments, in order to improve the accuracy of the whole system. To deal with a high dimensional data space and a large amount of features, we apply both a linear and non-linear pixel classification stage by using Support Vector Machines (SVMs). The randomness is encoded when training each SVM using randomly sample sets and, in consequence, randomly selected features from the whole feature bank obtained in the first stage. The proposed method has been validated using real mammographic images from well-known databases and its effectiveness is demonstrated in the experimental section. © 2014 Springer International Publishing.

关键词： Pixels

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An Intervention-AUV learns how to perform an underwater valve turning

An Intervention-AUV learns how to perform an underwater valv...

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OCEANS - Europe

作者： Arnau Carrera Narcís Palomeras David Ribas Petar Kormushev Marc Carreras Computer Vision and Robotics Institute (VICOROB) University of Girona Girona Spain Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

ISBN: (纸本)9781479936472

Intervention autonomous underwater vehicles (I-AUVs) are a promising platform to perform intervention task in underwater environments, replacing current methods like remotely operate underwater vehicles (ROVs) and manned sub-mersibles that are more expensive. This article proposes a complete system including all the necessary elements to perform a valve turning task using an I-AUV. The knowledge of an operator to perform the task is transmitted to an I-AUV by a learning by demonstration (LbD) algorithm. The algorithm learns the trajectory of the vehicle and the end-effector to accomplish the valve turning. The method has shown its feasibility in a controlled environment repeating the learned task with different valves and configurations.

关键词： Valves Trajectory Manipulators Turning Cameras Vehicles Hidden Markov models

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HEAD POSE TRACKING FOR IMMERSIVE APPLICATIONS

HEAD POSE TRACKING FOR IMMERSIVE APPLICATIONS

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IEEE International Conference on Image Processing

作者： Pedro Henriquez Oscar Higuera Bogdan J. Matuszewski Robotics and Computer Vision Research Laboratory School of Computing Engineering and Physical Sciences University of Central Lancashire

ISBN: (纸本)9781479957521

The paper describes a 3D head pose tracking system designed for immersive applications. The proposed system is based on a random forest's head detection and pose regression model. The main novel contributions include the application, in immersive technologies, of a head tracker using a range data sensor, the Kalman filter and the random forest, with automatic detection of outliers and handling of the missing data. The envisaged applications of the proposed system include data normalization and data acquisition from remote locations in real-time. The latter is described in detail by integrating 3 degrees of freedom robotic camera head with the proposed head tracker. In this instance the proposed non-contact head tracking system is used to control the robotic camera by replicating measured operator's head motion to improve his/her spatial awareness and sense of immersion, with the captured video shown on a head mounted display. The experimental section includes accuracy and robustness analysis. The system's robustness is examined with respect to the head pose outliers and the missing head detections. The effects of the presence of the head mounted displays on the performance of the system is also assessed. Additionally a brief discussion of operators' psycho-physical perception test is also included.

关键词： Head pose tracking Kalman filter Spatial Immersion

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Graph theory approach for match reduction in image mosaicing

Graph theory approach for match reduction in image mosaicing

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作者： Elibol, Armagan Gracias, Nuno Garcia, Rafael Kim, Jinwhan Division of Ocean Systems Engineering Korea Advanced Institute of Science and Technology Yuseong Daejeon 305-701 Korea Republic of Computer Vision and Robotics Group University of Girona Campus Montilivi Edifici P4 17071 Girona Spain

One of the crucial steps in image mosaicing is global alignment, which requires finding the best image registration parameters by employing nonlinear minimization methods over correspondences between overlapping image pairs for a dataset. Based on graph theory, we propose a simple but efficient method to reduce the number of overlapping image pairs without any noticeable effect on the final mosaic quality. This reduction significantly lowers the computational cost of the image mosaicing process. The proposed method can be applied in a topology estimation process to reduce the number of image matching attempts. The method has been validated through experiments on challenging underwater image sequences obtained during sea trials with different unmanned underwater vehicles. © 2014 Optical Society of America.

关键词： Graph theory

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