检索结果-内蒙古大学图书馆

International Conference on Automation and Computing (ICAC)

作者： P. Cano Marchal D. Martínez Gila J. Gámez García J. Gómez Ortega Robotics Automation and Computer Vision Group University of Jaén Jaen Spain

The determination of the content of impurities is a very frequent analysis performed on virgin olive oil samples, but the official method established in the European norm CE 2568/91 is quite work-intensive, and it would be convenient to have an alternative approximate method to evaluate the performance of the impurity removal process. In this work we develop a system based on computer vision and pattern recognition to classify the content of impurities of the olive oil samples in three sets, indicative of the goodness of the separation process of olive oil after its extraction from the paste. Starting from the histograms of the channels of the RGB, CIELAB and HSV color spaces, we construct an initial input parameter vector and perform a feature extraction previous to the classification. Several linear and non-linear feature extraction techniques were evaluated, and the classifiers used were Support Vector Machines. The best classification rate achieved was 87.66%, obtained using KPCA and a grade-3-polynomial kernel SVM.

关键词： Feature extraction Impurities Histograms Kernel Principal component analysis Support vector machine classification

来源：评论

学校读者我要写书评

暂无评论

Delayed state information filter for USBL-Aided AUV navigation

Delayed state information filter for USBL-Aided AUV navigati...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： David Ribas Pere Ridao Angelos Mallios Narcís Palomeras Computer Vision and Robotics group Escola Politecnica Superior University of Girona Girona Spain

This paper presents a navigation system for an Autonomous Underwater Vehicle (AUV) which merges standard dead reckoning navigation data with absolute position fixes from an Ultra-Short Base Line (USBL) system. Traditionally, the USBL transceiver is located on the surface, which makes necessary to feed the position fixes back to the AUV by means of an acoustic modem. An Information filter, which maintains a bounded circular buffer of past vehicle poses, is in charge of the sensor data fusion while dealing with the delays induced by the acoustic communication. The method is validated using a data set gathered for a dam inspection task.

关键词： Vehicles Navigation Delay Covariance matrix Vectors Robots

来源：评论

学校读者我要写书评

暂无评论

Project-based learning as a motivating tool to teach computer vision

Project-based learning as a motivating tool to teach compute...

引用

IEEE Education Engineering (EDUCON)

作者： Rafael Garcia Nuno Gracias Computer Vision and Robotics Group University of Girona Edif. P-IV Girona Spain

This paper addresses the challenge of developing techniques for the effective teaching of computer vision. It reports on the experience of using the technique of project-based learning as a motivating method for teaching computer vision strategies within the context of a Master's program module in Visual Perception at the University of Girona (Spain). Students were asked to generate projects which involved the use of invariant features, i.e. algorithms to detect and describe local features in images. Within this project-based context, students were encouraged to search for information resources that would accompany their project ideas. Every student team was supervised by a tutoring instructor and periodic meetings were scheduled during this six-week project to follow their progress.

关键词： computer vision Educational institutions Teamwork Visual perception TV Companies

来源：评论

学校读者我要写书评

暂无评论

Planning for Simultaneous Localization and Mapping Using Topological Information

Planning for Simultaneous Localization and Mapping Using Top...

引用

IEEE Latin American robotics Symposium, LARS

作者： Rafael Gonçalves Colares Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.

关键词： Navigation Simultaneous localization and mapping Robot kinematics Planning Skeleton

来源：评论

学校读者我要写书评

暂无评论

Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

Mobile Robot Localization in Indoor Environments Using Multi...

引用

IEEE Latin American robotics Symposium, LARS

作者： Moisés Lisboa Rodrigues Luiz Filipe M. Vieira Mario F. M. Campos Vision and Robotics Laboratory (VerLab) Computer Science Department Universidade Federal de Minas Gerais Brazil

Localization is a fundamental problem that arises in many potential applications. The use of wireless technologies to perform localization has been a trend in recent years. Most existing approaches use the received signal strength indication (RSSI) to localize. In general, one of the several existing wireless standards such as ZigBee, Bluetooth or Wi-Fi, is chosen as the target standard. In this paper we present an experimental study on the use of multiple wireless technologies to perform mobile robot localization in indoor environments. We use real ZigBee and Wi-Fi compliant devices. In our study we analyse results obtained by fusing robot odometry data with distance estimations between the robot and wireless beacons. These distances are estimated based on the RSSI obtained from radio frequency (RF) signals received from those technologies compliant devices. The extended kalman filter (EKF) is used to fuse these information. We show that robots equipped with multiple wireless interfaces from different technologies can achieve better localization in regions where the coverage of one technology is reduced (e.g., we show that the robot can maintain a reasonable localization accuracy even in areas where Wi-Fi coverage is very poor, due to the presence of Zigbee sensor nodes). We also present a discussion of advantages and challenges of using multiple wireless technologies to perform localization in indoor environments.

关键词： IEEE 802.11 Standards Wireless communication Wireless sensor networks Robot sensing systems Zigbee Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Supervised learning of hidden and non-hidden 0-order affordances and detection in real scenes

Supervised learning of hidden and non-hidden 0-order afforda...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Aitor Aldoma Federico Tombari Markus Vincze Vision4Robotics Group Automation and Control Institute University of Technology Vienna Austria Computer Vision Lab DEIS-ARCES University of Bologna Italy

The ability to perceive possible interactions with the environment is a key capability of task-guided robotic agents. An important subset of possible interactions depends solely on the objects of interest and their position and orientation in the scene. We call these object-based interactions 0-order affordances and divide them among non-hidden and hidden whether the current configuration of an object in the scene renders its affordance directly usable or not. Conversely to other works, we propose that detecting affordances that are not directly perceivable increase the usefulness of robotic agents with manipulation capabilities, so that by appropriate manipulation they can modify the object configuration until the seeked affordance becomes available. In this paper we show how 0-order affordances depending on the geometry of the objects and their pose can be learned using a supervised learning strategy on 3D mesh representations of the objects allowing the use of the whole object geometry. Moreover, we show how the learned affordances can be detected in real scenes obtained with a low-cost depth sensor like the Microsoft Kinect through object recognition and 6D0F pose estimation and present results for both learning on meshes and detection on real scenes to demonstrate the practical application of the presented approach.

关键词： Solid modeling Robots Training Design automation Histograms Object recognition Computational modeling

来源：评论

学校读者我要写书评

暂无评论

Navigation of uncertain terrain by fusion of information from real and synthetic imagery

引用

Proceedings of SPIE - The International Society for Optical Engineering 2012年 8407卷

作者： Lyons, Damian M. Nirmal, Paramesh Paul Benjamin, D. Fordham University Robotics and Computer Vision Laboratory Bronx NY 10458 United States Pace University Department of Computer Science New York NY 10023 United States

ISBN: (纸本)9780819490858

We consider the scenario where an autonomous platform that is searching or traversing a building may observe unstable masonry or may need to travel over unstable rubble. A purely behaviour-based system may handle these challenges but produce behaviour that works against long-terms goals such as reaching a victim as quickly as possible. We extend our work on ADAPT, a cognitive robotics architecture that incorporates 3D simulation and image fusion, to allow the robot to predict the behaviour of physical phenomena, such as falling masonry, and take actions consonant with long-term goals. We experimentally evaluate a cognitive only and reactive only approach to traversing a building filled with various numbers of challenges and compare their performance. The reactive only approach succeeds only 38% of the time, while the cognitive only approach succeeds 100% of the time. While the cognitive only approach produces very impressive behaviour, our results indicate how much better the combination of cognitive and behaviour-based can be. © 2012 SPIE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

SLAM with single cluster PHD filters

SLAM with single cluster PHD filters

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Chee Sing Lee Daniel E. Clark Joaquim Salvi Computer Vision and Robotics Group (VICOROB) University of Girona Girona Spain Signal and Image Processing Heriot-Watt University Edinburgh UK

Recent work by Mullane, Vo, and Adams has re-examined the probabilistic foundations of feature-based Simultaneous Localization and Mapping (SLAM), casting the problem in terms of filtering with random finite sets. Algorithms were developed based on Probability Hypothesis Density (PHD) filtering techniques that provided superior performance to leading feature-based SLAM algorithms in challenging measurement scenarios with high false alarm rates, high missed detection rates, and high levels of measurement noise. We investigate this approach further by considering a hierarchical point process, or single-cluster multi-object, model, where we consider the state to consist of a map of landmarks conditioned on a vehicle state. Using Finite Set Statistics, we are able to find tractable formulae to approximate the joint vehicle-landmark state based on a single Poisson multi-object assumption on the predicted density. We describe the single-cluster PHD filter and the practical implementation developed based on a particle-system representation of the vehicle state and a Gaussian mixture approximation of the map for each particle. Synthetic simulation results are presented to compare the novel algorithm against the previous PHD filter SLAM algorithm. Results presented indicate a superior performance in vehicle and map landmark localization, and comparable performance in landmark cardinality estimation.

关键词： Simultaneous localization and mapping Filtering algorithms Prediction algorithms Weight measurement Clustering algorithms Marine animals

来源：评论

学校读者我要写书评

暂无评论

Hyperspectral imaging for determination of some quality parameters for olive oil

Hyperspectral imaging for determination of some quality para...

引用

International Conference on Automation and Computing (ICAC)

作者： D. Martínez Gila P. Cano Marchal J. Gámez García J. Gómez Ortega Robotics Automation and Computer Vision Group Agrifood Campus of International Excellence (ceiA3) University of Jaén Jaen Spain

The analysis of the quality of a virgin olive oil involves the determination of a series of chemical indexes and organoleptic characteristics. In this work we propose an online prediction model for three chemical indexes: acidity, peroxide index and humidity content, based on an hyperspectral artificial vision system. Two methods have been developed for the construction of the model: (1) partial least squares regression (PLS) using all the captured spectral components, and (2) partial least squares regression over a subset of the components obtained applying a genetic algorithm (GA-PLS). The design and validation was carried out using olive oil samples from different seasons analysed by a renowned laboratory.

关键词： Hyperspectral imaging Predictive models Genetic algorithms Calibration Moisture Indexes Cameras

来源：评论

学校读者我要写书评

暂无评论

Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

引用

OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

作者： Corpuz, Francis James Naval, Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Department of Computer Science College of Engineering University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Special Projects Laboratory Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781457720895

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment. © 2012 IEEE.

关键词： Reefs

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：