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检索条件"机构=Computer Vision and Robotics"

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Tracking method for human computer interaction using Wii remote

Tracking method for human computer interaction using Wii rem...

引用

International Conference on "Emerging Trends in robotics and Communication Technologies", INTERACT-2010

作者： Bharath, L. Shashank, S. Nageli, V.S. Shrivastava, Sangeeta Rakshit, S. B N M Institute of Technology Bangalore India Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore India

ISBN: (纸本)9781424490066

over the years the techniques and methods that have been used to interact with the computers have evolved significantly. From the primitive use of punch cards to the latest touch screen panels we can see the vast improvement in interaction with the system. The same applies to the projection technology for creating various geometric displays. Researchers are exploring new ways of projection and interaction technologies to create 'illusion' that can reshape our perception and interaction methodologies. In this paper we implemented (Infrared) IR light source tracking system which can be used for tracking single and multiple IR light source positions and can be used effectively in optical tracking problems such as tracking head position which is all pervasive requirement in a Virtual Reality System. We present a method of mapping IR light source position and orientation to an image. We defined the interaction techniques for an image manipulations with the help of fingers such as zoom, tilt/rotate, scale etc. We can extend our tracking capabilities to implement the touch screen feature to commercial applications. The paper illustrates the hardware and software used for implementing IR light source tracking based applications. © 2010 IEEE.

关键词： Touch screens

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A rectangle-intersection algorithm with limited resource requirements

A rectangle-intersection algorithm with limited resource req...

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10th IEEE International Conference on computer and Information Technology, CIT-2010, 7th IEEE International Conference on Embedded Software and Systems, ICESS-2010, 10th IEEE Int. Conf. Scalable Computing and Communications, ScalCom-2010

作者： Dévai, Frank Neumann, László Department of Informatics London South Bank University London United Kingdom ICREA Computer Vision and Robotics Group University of Girona Spain

ISBN: (纸本)9780769541082

It is demonstrated that power-efficient software also requires simplicity and the use of elementary data structures in addition to asymptotically optimal CPU and memory requirements. Though in the past few decades much effort has been devoted to reporting all k intersecting pairs in a planar set of n iso-oriented rectangles, all the known algorithms using elementary data structures, such as linked lists, are either not optimal, report some intersections repeatedly or fail to report some altogether. A simpler algorithm is proposed that uses only linear arrays and that takes O(n log n + k) time and O(n) space, which are the best possible under the algebraic RAM model of computation. The algorithm is designed for systems with limited resources, such as mobile 3D graphics, and can be implemented in less than 100 lines of Java code. © 2010 Crown Copyright.

关键词： Data structures

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Pushing the envelope of modern methods for bundle adjustment

Pushing the envelope of modern methods for bundle adjustment

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Yekeun Jeong David Nister Drew Steedly Richard Szeliski In-So Kweon Robotics and Computer Vision Lab. KAIST Microsoft Research South Korea Robotics and Computer Vision Lab. KAIST Microsoft Research Robotics and Computer Vision Lab. KAIST Microsoft Research USA

In this paper, we present results and experiments with several methods for bundle adjustment, producing the fastest bundle adjuster ever published. The fastest methods work with the well known reduced camera system and handle the block-sparse pattern arising in the reduced camera system in a natural way. Adapting to the naturally arising block-sparsity allows the use of BLAS3, efficient memory handling, fast variable ordering, and customized sparse solving all at the same time. We present two methods, one using exact minimum degree ordering and block-based LDL solving, and one using block-based preconditioned conjugate gradient, both on the reduced camera system. We show experimentally that the adaptation to the natural block sparsity allows both these methods to perform better than previous ones. Further speed improvements are achieved by the novel use of embedded point iterations. The embedded point iterations take place inside each camera update step, yielding a higher cost decrease from each camera update step. This is especially true for points projecting far out on the flatter region of the robustifier.

关键词： Cameras Robot vision systems Large-scale systems computer vision Costs Convergence Character generation Robustness Frequency conversion Humans

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Comparison of registration methods using mamographic images

Comparison of registration methods using mamographic images

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IEEE International Conference on Image Processing

作者： Yago Díez Arnau Oliver Xavier Lladó Robert Martí Computer Vision and Robotics Group University of Girona Spain

The detection of architectural distortions and abnormal structures in mammographic images can be based on the analysis of bilateral and temporal cases using image registration. This work presents a quantitative evaluation of eight state-of-the art image registration methods applied to mammographic images. These methods range from a global and rigid transformation to local deformable paradigms using various metrics and multi-resolution approaches. The aim of this study is to assess the suitability of these methods for mammographic image analysis. Evaluation using temporal cases based on quantitative analysis gives an indication of the accuracy and robustness of the different algorithms. This work shows that local deformable paradigms (B-spline deformations) obtain the most accurate registration results.

关键词： Measurement Spline Image registration Breast Image resolution Biomedical imaging Bars

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Two steps natural actor critic learning for underwater cable tracking

Two steps natural actor critic learning for underwater cable...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andres El-Fakdi Marc Carreras Enric Galceran Computer Vision and Robotics Group University of Girona Girona Spain

This paper proposes a field application of a high-level Reinforcement Learning (RL) control system for solving the action selection problem of an autonomous robot in a cable tracking task. The underwater vehicle ICTINEU AUV learns to perform a visual based cable tracking task in a two step learning process. First, a policy is computed by means of simulation where a hydrodynamic model of the vehicle simulates the cable following task. Once the simulated results are accurate enough, in a second step, the learned-in-simulation policy is transferred to the vehicle where the learning procedure continues in a real environment, improving the initial policy. The natural actor-critic (NAC) algorithm has been selected to solve the problem in both steps. This algorithm aims to take advantage of policy gradient and value function techniques for fast convergence. Actor's policy gradient gives convergence guarantees under function approximation and partial observability while critic's value function reduces variance of the estimates update improving the convergence process.

关键词： Underwater cables Underwater tracking Computational modeling Convergence Learning Control systems Robots Underwater vehicles Hydrodynamics Remotely operated vehicles

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Improvement in service robot's interaction through case based reasoning

Improvement in service robot's interaction through case base...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Roncancio, Catalina Rodríguez, Jose L. Zalama, Eduardo Gómez G-B, Jaime Robotics Computer Vision and Biomedical Engineering Department CARTIF Foundation Parque Tecnologico de Boecillo Parc 205 Valladolid Spain ISA Dep. University of Valladolid Valladolid Spain

ISBN: (纸本)9781424469178

In order to enable tight interaction and close collaboration between human and service robots it is necessary that robots imitate the cognitive mechanisms of the brain and their role in competent activity control. That goal can only be achieved if robots are capable of observing their environment, reasoning about it, and autonomously deciding the most appropriate action in a given situation. We present a possible application in this broad area: "Sacarino" is a service robot desingned to work as bellboy in a hotel environment as part of the ROSETEL project. In order to tackle the challenge of learning by interaction we define: (i) the scenarios in which our agent have to work, (ii) its prior knowledge in an episodic memory module to be used in a prime dialog interaction, and (iii) the proper architecture that will support intelligent behaviour suitable for the control of our robot. We will use frameworks like JCOLOBRI (Cases and Ontology Libraries Integration for Building Reasoning Infrastructures) to define the agent's memory structure, taking a deeper look into the episodic memory of the system. © 2010 IEEE.

关键词： Case based reasoning

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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作者： Adithya, C. Kowsik, K. Namrata, D. Nageli, V.S. Shrivastava, Sangeeta Rakshit, S. B M Shrinivassayya College of Engineering Dept. of Information Science Bangalore India Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore India

ISBN: (纸本)9788183713696

Paper map visualization is good value proposition, even in the everything is digital world, because of the huge information density and ease of use at any remote or mobile location, especially in the military context. Completely doing away with the paper map brings in a discomfort factor for the military user. In this paper, we present a paper map data visualization solution that augments the information from the digital world onto a spread of a paper map. Augmented Reality techniques are used to enhance paper maps digitally resulting in a 3D visualization space with some interactions. The dynamic information of the terrain, placing virtual objects and interaction are features of the digital world that are superimposed onto a paper map. We have used ARToolkit marker tracking based approach and a see through Head Mounted Device for implementation. The digital elevation data in VRML format is split into smaller bits before rendering. The rendering is done after culling the relevant part of the terrain data and the same is popped up in stereo for enhanced visualization. The user can place virtual objects using markers. The distance between markers (user and reference) is calculated and is used for interactive features. The interaction options are load/select, slice/split and latch/freeze. We have achieved better performance by loading only the region of interest and not the complete terrain. The paper also illustrates the basic hardware set-up required for implementation. © 2010 Kongu Engineering College.

关键词： Augmented reality

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A Rectangle-Intersection Algorithm with Limited Resource Requirements

A Rectangle-Intersection Algorithm with Limited Resource Req...

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International Conference on computer and Information Technology (CIT)

作者： Frank Dévai László Neumann Department of Informatics London South Bank University London UK ICREA and Computer Vision and Robotics Group University of Girona Spain ICREA and Computer Vision and Robotics Group University of Girona Spain

关键词： Arrays Algorithm design and analysis Java Software algorithms Software Rendering (computer graphics)

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Improving stereo camera depth measurements and benefiting from intermediate results

Improving stereo camera depth measurements and benefiting fr...

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IEEE Symposium on Intelligent Vehicle

作者： C. Høilund T. B. Moeslund C. B. Madsen M. M. Trivedi Laboratory of Computer Vision and Media Technology Aalborg University Denmark Computer Vision and Robotics Research Laboratory University of California San Diego USA

This paper presents a method for improving the disparity values obtained with a stereo camera by applying an iconic Kalman filter and known ego-motion. The improvements are demonstrated in an application of determining the free space in a scene as viewed by a vehicle-mounted camera. Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic Kalman filter, operating on each pixel individually, thereby reducing variance and increasing the density of the filtered disparity map. Then, a stochastic occupancy grid is calculated from the filtered disparity map, providing a top-down view of the scene where the uncertainty of disparity measurements are taken into account. These occupancy grids are segmented to indicate a maximum depth free of obstacles, enabling the marking of free space in the accompanying intensity image. Even without motion of the camera, the quality of the disparity map is increased significantly. Applications of the intermediate results are discussed, enabling features such as motion detection and quantifying the certainty of the measurements. The evaluation shows significant improvement in disparity variance and disparity map density, and consequently an improvement in the application of marking free space.

关键词： Filters Stereo vision Intelligent vehicles Robot vision systems Layout USA Councils Smart cameras Laboratories computer vision Motion detection

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Selection and recognition of landmarks using terrain spatiograms

Selection and recognition of landmarks using terrain spatiog...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Damian M. Lyons Robotics & Computer Vision Laboratory Computer and Information Science Department Fordham University Bronx NY USA

A team of robots working to explore and map an area may need to share information about landmarks so as to register their local maps and to plan effective exploration strategies. In previous papers we have introduced a combined image and spatial representation for landmarks: terrain spatiograms. We have shown that for manually selected views, terrain spatiograms provide an effective, shared representation for occlusion filtering and for combination of multiple views. In this paper, we present a landmark saliency architecture (LSA) that will automatically select candidate landmarks given some preference settings. Using a dataset of 21 outdoor stereo images generated by LSA, we show that the terrain spatiogram representation reliably recognizes automatically selected landmarks. The terrain spatiogram results are shown to improve on two purely appearance based approaches: template matching and image histogram matching.

关键词： Image color analysis Visualization Robots Histograms Pixel Semantics Humans

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