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检索条件"机构=Computer Vision and Robotics"

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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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International Joint Conference on Neural Networks (IJCNN)

作者： Catalina Roncancio Jose L. Rodríguez Eduardo Zalama Jaime Gómez G.-B Robotics Computer vision and Biomedical Engineering Department at CARTIF Foundation Parque Tecnologico Valladolid Spain ISA Dep. the University of Valladolid Valladolid Spain

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.

关键词： Ontologies OWL Cognition Schedules Semantics Robot sensing systems

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Class-specific grasping of 3D objects from a single 2D image

Class-specific grasping of 3D objects from a single 2D image

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Han-Pang Chiu Huan Liu Leslie Pack Kaelbling Tomás Lozano-Pérez Vision and Robotics Laboratory Sarnoff Corporation Princeton NJ USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

Our goal is to grasp 3D objects given a single image, by using prior 3D shape models of object classes. The shape models, defined as a collection of oriented primitive shapes centered at fixed 3D positions, can be learned from a few labeled images for each class. The 3D class model can then be used to estimate the 3D shape of a detected object, including occluded parts, from a single image. The estimated 3D shape is used as to select one of the target grasps for the object. We show that our 3D shape estimation is sufficiently accurate for a robot to successfully grasp the object, even in situations where the part to be grasped is not visible in the input image.

关键词： Three dimensional displays Solid modeling Shape Image reconstruction Computational modeling Grasping Training

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Elastic modulus imaging using optical flow and image registration

Elastic modulus imaging using optical flow and image registr...

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IEEE International Conference on Image Processing

作者： Robert Martí Alison Noble Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Spain Biomedical Image Analysis Laboratory Institute of Biomedical Engineering University of Oxford UK

Elastography, the imaging technique for estimating the elastic tissue properties, or more specifically elastic modulus imaging, are becoming important diagnosis tools in computer aided diagnosis system, specially focusing on ultrasound and MRI images. This technique still presents unsolved challenges in the analysis of deformations in sequences of images. The aim of this paper is twofold: to evaluate the applicability of the deformation field obtained by state of the art optical flow and image registration algorithms for elastic modulus imaging and to quantitatively evaluate two different methods for estimation of the elastic modulus distribution. Results show that optical-flow methods provide a slightly better reconstruction and that the reconstruction has been shown to be more accurate using the method proposed by Sumi et al.

关键词： Image reconstruction Optical imaging Strain Young's modulus Image registration Lesions

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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International Conference on Communication and Computational Intelligence (INCOCCI)

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

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.

关键词： Augmented reality Data visualization Cameras Three dimensional displays Rendering (computer graphics) Solid modeling Training

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Feature based slam using side-scan salient objects

Feature based slam using side-scan salient objects

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OCEANS

作者： Josep Aulinas Xavier Lladó Joaquim Salvi Yvan R. Petillot Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain Oceans Systems Laboratory School of Engineering and Physical Sciences Heriot-Watt University Edinburgh UK

Different underwater vehicles have been developed in order to explore underwater regions, specially those of difficult access for humans. Autonomous Underwater Vehicles (AUVs) are equipped with on-board sensors, which provide valuable information about the vehicle state and the environment. This information is used to build an approximate map of the area and estimate the position of the vehicle within this map. This is the so called Simultaneous Localization and Mapping (SLAM) problem. In this paper we propose a feature based submapping SLAM approach which uses side-scan salient objects as landmarks for the map building process. The detection of salient features in this environment is a complex task, since sonar images are noisy. We present in this paper an algorithm based on a set of image preprocessing steps and the use of a boosted cascade of Haar-like features to perform the automatic detection in side-scan images. Our experimental results show that the method produces consistent maps, while the vehicle is precisely localized.

关键词： Simultaneous localization and mapping Vehicles Feature extraction Sonar detection Object detection Sonar navigation

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Multimodal prostate registration using thin-plate splines from automatic correspondences

Multimodal prostate registration using thin-plate splines fr...

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International Conference on Digital Image Computing: Techniques and Applications, DICTA 2010

作者： Mitra, Jhimli Oliver, Arnau Martí, Robert Lladó, Xavier Vilanova, Joan C. Meriaudeau, Fabrice Computer Vision and Robotics Group University of Girona Campus Montilivi Av. Lluís Santaló s/n 17071 Girona Spain Clinica Girona Calle Joan Maragall 26 17002 Girona Spain Laboratoire Le2I - UMR CNRS 5158 Université de Bourgogne 12 Rue de la Fonderie 71200 Le Creusot France

ISBN: (纸本)9780769542713

Registration is an important step during prostate biopsy with interventional Ultrasound (US) to project the Magnetic Resonance (MR) information of the corresponding slice of a pre-acquired MR volume of the same patient. This paper presents a method of deformable registration between US and MR prostate modalities using Thin-Plate Splines (TPS). The use of radial-basis functions such as splines is a typical approach for deformable registration wherein, TPS are more computationally efficient than B-splines. However, registration with TPS employs strategic choice of correspondence points in the moving and reference images and therefore, has been rarely used by researchers for prostate registration. Aiming to deal with this issue, a novel method to automatically choose correspondence points (control points) based on the prostate geometry is presented in this paper. Shepard's interpolation is used with the TPS in order to deal with the interpolation artifacts produced by reverse TPS transform. To evaluate the accuracy of our correspondence generation method, two intuitive geometric methods for prostate contour sampling are also implemented. Our registration results are validated using 4 patient datasets obtaining an average DSC of 0.97 ± 0.01. © 2010 IEEE.

关键词： Magnetic resonance

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Prostate segmentation with texture enhanced active appearance model

Prostate segmentation with texture enhanced active appearanc...

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International Conference on Signal Image Technology and Internet Based Systems

作者： Ghose, Soumya Oliver, Arnau Martí, Robert Lladó, Xavier Freixenet, Jordi Vilanova, Joan C. Meriaudeau, Fabrice Laboratoire Le2I UMR CNRS 5158 Université de Bourgogne 12 Rue de la Fonderie 71200 Le Creusot France Computer Vision and Robotics Group University of Girona Campus Montilivi Av. Lluís Santaló s/n 17071 Girona Spain Clinica Girona Calle Joan Maragall 26 17002 Girona Spain

ISBN: (纸本)9780769543192

Prostate contour segmented from Trans Rectal Ultra Sound (TRUS) and Magnetic Resonance (MR) images could improve inter-modality registration accuracy and reduce computational complexity of the procedure. However, prostate segmentation in each of these modalities is a challenging task in presence of imaging artifacts, intensity heterogeneities, and large inter patient shape variabilities of the *** propose to use Haar wavelet approximation coefficients to extract texture features of the prostate region in both modalities to guide a deformable parametric model to segment the prostate in a multi-resolution framework. Principal Component Analysis (PCA) of the shape and texture information of the prostate region obtained from the training data aids contour propagation of the deformable parametric model. Prior knowledge of the optimization space is utilized for optimal segmentation of the prostate. Our method achieves a mean Dice Similarity Coefficient (DSC) value of 0.95±0.01, with mean segmentation time of 0.72±0.05 seconds in a leave-one-out validation framework with 25 TRUS images grabbed from a video sequence. DSC value of 0.88 ± 0.06 with a mean segmentation time of 0.81 ± 0.02 seconds was recorded for MR images when validated with 15 central slice images of 15 datasets from the MICCAI prostate segmentation challenge 2009. Our proposed method performs computationally efficient accurate multi-modal prostate segmentation in presence of intensity heterogeneities and imaging artifacts. © 2010 IEEE.

关键词： Magnetic resonance

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Self-organized executive control functions

Self-organized executive control functions

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International Joint Conference on Neural Networks (IJCNN)

作者： Michail Maniadakis Panos Trahanias Jun Tani Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas Crete Greece Laboratory for Behavior and Dynamic Cognition RIKEN Brain Science Institute Wako Saitama Japan

Executive control incorporates cognitive functions involved in the control and management of other cognitive processes. Such high-level skills are hard to be explored with brain imaging studies because they require complex and persistent experimental procedures. Alternatively, computational modeling may provide a new way to indirectly explore executive control mechanisms. The current work adopts this latter approach to explore possible characteristics of executive control, focusing particularly on behavioral rule switching and confidence neurodynamics in artificial agents. To this end, our study explores a robotic version of the classical Wisconsin Card Sorting Test, incorporating also the option of betting. Our ability to perform multiple and statistically independent computational experiments together with the in-depth study of the mechanisms created in the artificial cognitive systems, provides suggestions for the executive control aspects of the human brain.

关键词： Switches Robot sensing systems Brain modeling Neurons Encoding

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A Thin-Plate Spline based multimodal prostate registration with optimal correspondences

A Thin-Plate Spline based multimodal prostate registration w...

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International Conference on Signal Image Technology and Internet Based Systems

作者： Mitra, Jhimli Oliver, Arnau Martí, Robert Lladó, Xavier Vilanova, Joan C. Meriaudeau, Fabrice Laboratoire Le2I UMR CNRS 5158 Université de Bourgogne 12 Rue de la Fonderie 71200 Le Creusot France Computer Vision and Robotics Group University of Girona Campus Montilivi Av. Lluís Santaló s/n 17071 Girona Spain Clinica Girona Calle Joan Maragall 26 17002 Girona Spain

ISBN: (纸本)9780769543192

Accurate extraction of prostate biopsy samples during Transectal Ultra Sound (TRUS) guided prostate biopsy is facilitated with the registration of pre-acquired Magnetic Resonance (MR) images with the Ultrasound (US) images. This paper proposes a novel method of generating optimal correspondences to register the MR and US images using Thin-Plate Splines (TPS) transformation. The correspondence generation method exploits the prostate shape geometry in both the modalities and is fully automatic. Normalized Mutual Information (NMI) is employed for the quantitative determination of optimal number of correspondences in terms of maximization of registration similarity. Qualitative registration results, that conform to the NMI measures are also shown for different numbers of correspondences. Shepard's interpolation method is used with the TPS in order to deal with the interpolation error of backward TPS transformation. The accuracy of our method of correspondence generation is qualitatively evaluated in comparison with two intuitive geometric contour sampling methods. An average Dice Similarity Coefficient (DSC) value of 0.97 ± 0.01 for 4 patient datasets is obtained for the TPS registration using our novel method of correspondences. © 2010 IEEE.

关键词： Magnetic resonance

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Saliency ranking for benthic survey using underwater images

Saliency ranking for benthic survey using underwater images

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International Conference on Control, Automation, robotics and vision (ICARCV)

作者： Matthew Johnson-Roberson Oscar Pizarro Stefan Williams Computational Vision and Active Perception Laboratory School of Computer Science and Communication Royal Institute of Technology Sweden ARC Centre of Excellence of Autonomous Systems Australian Centre of Field Robotics University of Sydney Australia

This paper presents a novel architecture for a classification system based on the visual saliency of images. The work is motivated by the difficulty of reviewing large numbers of images as a human operator in the context of Autonomous Underwater Vehicle (AUV) surveys. We formulate a feature space in which an algorithm operates over color and texture to determine saliency and illustrate how this can be used to find interesting or unusual images within a large data set. The saliency classification based on these general image features allows for overlays highlighting interesting benthos or geologic structures on large scale 3D seafloor reconstructions, quickly providing spatial context to human observers. These results are validated using a set of human trials in which images are classified into salient and non-salient categories by a number of test subjects. The trials show good agreement both between subjects and between the human labels and the automated classification system. The results of the automated technique are also compared directly to a more traditional SVM classification system showing favorable results for our system for generalizing to new environments.

关键词： Pixel Humans Visualization Entropy Image color analysis Indexes Context

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