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Conference on computer vision and Pattern Recognition (CVPR)

作者： Brendan Morris Mohan Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

Recently a large amount of research has been devoted to automatic activity analysis. Typically, activities have been defined by their motion characteristics and represented by trajectories. These trajectories are collected and clustered to determine typical behaviors. This paper evaluates different similarity measures and clustering methodologies to catalog their strengths and weaknesses when utilized for the trajectory learning problem. The clustering performance is measured by evaluating the correct clustering rate on different datasets with varying characteristics.

关键词： Principal component analysis Euclidean distance computer vision Prototypes Hidden Markov models Robot vision systems robotics and automation Laboratories Pattern analysis Layout

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Introducing “XMOB”: Extremity Movement Observation Framework for Upper Body Pose Tracking in 3D

Introducing “XMOB”: Extremity Movement Observation Framewo...

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IEEE International Symposium on Multimedia

作者： Cuong Tran Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

We introduce a vision based, marker less upper body pose tracking approach that first tracks the 3D movements of extremities, including head and hands. Then based on the knowledge of upper body model, these extremity movements are used to predict the whole upper body motion as an inverse kinematics problem. The experimental validation showed the promise of applying this approach in several smart environments and HCI situations, e.g. user activity observation in driving scene, meeting room, teleconference scene.

关键词： Extremities Tracking Head Humans Kinematics Predictive models Layout Laboratories Teleconferencing Motion estimation

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On the generation of feasible paths for aerial robots in environments with obstacles

On the generation of feasible paths for aerial robots in env...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando A. Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (Ver lab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for which the main kinematic constraints of the vehicle are not violated. The smoothness of the acceleration profile of the vehicle is indirectly guaranteed between two vertices of the RRT tree. The proposed algorithm provides fast convergence to the final trajectory. We still utilize the properties of the RRT to avoid collisions with static obstacles of a environment. We show results for a small unmanned aerial vehicles in environments with different configurations.

关键词： Unmanned aerial vehicles Remotely operated vehicles Space vehicles Aircraft Mobile robots Path planning Intelligent robots Trajectory USA Councils Kinematics

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Traffic control for a swarm of robots: Avoiding target congestion

Traffic control for a swarm of robots: Avoiding target conge...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

One of the main problems in the navigation of robotic swarms is when several robots try to reach the same target at the same time, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. Using local sensing and communication, and controlling their actions using a probabilistic finite state machine, robots are able to coordinate themselves to avoid these situations. Simulations and real experiments were executed to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to have a more efficient and smoother navigation and is suitable for large groups of robots.

关键词： Traffic control Robot kinematics Navigation Robot sensing systems Intelligent robots Automata Robustness Roads Collision avoidance USA Councils

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A path planning algorithm for UAVs with limited climb angle

A path planning algorithm for UAVs with limited climb angle

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Armando A. Neto Mario F. M. Campos Vision and Robotics Laboratory (Verlab) Computer Science Department Federal University of Minas Gerais Brazil

In this paper we present a methodology based on a variation of the spatial pythagorean hodograph curves to generate smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. An fast iterative algorithm is used to calculate the curve. The generated path satisfy three main angular constraints given by the vehicle: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). A path is considered feasible if these kinematic constraints are not violated. The smoothness vehicle's acceleration profile is indirectly guaranteed between two points. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modeled by the constraints considered here. We show results for small aerial vehicle.

关键词： Path planning Unmanned aerial vehicles Remotely operated vehicles Space vehicles Mobile robots Interpolation Iterative algorithms Kinematics Acceleration Aircraft

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REALabs-BOT: a WebLab in Mobile robotics Over High Speed Networks

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IFAC Proceedings Volumes 2009年第22期42卷 80-85页

作者： Eleri Cardozo Eliane G. Guimarães Fernando P. Neto Victor V. Pinto School of Electrical and Computer Engineering University of Campinas Campinas/SP Brazil Robotics and Computer Vision Division Information Technology Center Renato Archer Campinas/SP Brazil

This paper presents the architecture and implementation of REALabs-BOT, a WebLab in mobile robotics. REALabs-BOT was designed to run over high speed networks. As such, mobile robotics experiments run on the user's computer and control the robots over the network and in real time. The proposal of the WebLab is to let the student to develop his/her robotic algorithm in Java or Javascript, to tune and evaluate the algorithm in a simulated environment, and finally to run exactly the same algorithm to drive the real robots. REALabs-BOT maintains a repository of robotic experiments for demonstration purposes and as starting point for new experiments. The WebLab also supports secure interaction from multiple users located at different sites.

关键词： Telerobotics Teleoperation Autonomous mobile robots Networked robotics WebLabs

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Traffic control for a swarm of robots: Avoiding group conflicts

Traffic control for a swarm of robots: Avoiding group confli...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

A very common problem in the navigation of robotic swarms is when groups of robots move into opposite directions, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. By working collaboratively, and warning their teammates about a congestion risk, robots are able to coordinate themselves to avoid these situations. We executed simulations and real experiments to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to navigate in a smoother and more efficient fashion, and is suitable for large groups of robots.

关键词： Traffic control Robot kinematics Navigation Intelligent robots Robot sensing systems Collision avoidance Orbital robotics Distributed algorithms USA Councils Collaborative work

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Unsupervised learning of motion patterns of rear surrounding vehicles

Unsupervised learning of motion patterns of rear surrounding...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Brendan Morris Mohan Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Awareness to a vehicle's surrounding is necessary for safe driving. Current surround technologies focus on the detection of obstacles in hard-to-view places but may neglect temporal information. This paper seeks the causes of dangerous situations by examining surround behavior. A general hierarchical learning framework is introduced to automatically learn surround behaviors. By observing motion trajectories during natural driving, models of rear vehicle behaviors are obtained in an unsupervised fashion. The extracted behaviors are shown to correspond to typical driving scenarios, vehicle overtake and surround overtake, demonstrating the effectiveness of the learning framework.

关键词： Unsupervised learning Vehicles

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On adapting the tensor voting framework to robust color image denoising

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13th International Conference on computer Analysis of Images and Patterns, CAIP 2009

作者： Moreno, Rodrigo Garcia, Miguel Angel Puig, Domenec Julià, Carme Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Av. Països Catalans 26 Tarragona 43007 Spain Department of Informatics Engineering Autonomous University of Madrid Cra. Colmenar Viejo Km 15 Madrid 28049 Spain

ISBN: (纸本)3642037666

This paper presents an adaptation of the tensor voting framework for color image denoising, while preserving edges. Tensors are used in order to encode the CIELAB color channels, the uniformity and the edginess of image pixels. A specific voting process is proposed in order to propagate color from a pixel to its neighbors by considering the distance between pixels, the perceptual color difference (by using an optimized version of CIEDE2000), a uniformity measurement and the likelihood of the pixels being impulse noise. The original colors are corrected with those encoded by the tensors obtained after the voting process. Peak to noise ratios and visual inspection show that the proposed methodology has a better performance than state-of-the-art techniques. © 2009 Springer Berlin Heidelberg.

关键词： Pixels

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Head and gaze dynamics in visual attention and context learning

Head and gaze dynamics in visual attention and context learn...

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IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Anup Doshi Mohan M. Trivedi Laboratory for Intelligent and Safe Automobiles Computer Vision and Robotics Research Laboratory University of California San Diego USA

Future intelligent environments and systems may need to interact with humans while simultaneously analyzing events and critical situations. Assistive living, advanced driver assistance systems, and intelligent command-and-control centers are just a few of these cases where human interactions play a critical role in situation analysis. In particular, the behavior or body language of the human subject may be a strong indicator of the context of the situation. In this paper we demonstrate how the interaction of a human observer's head pose and eye gaze behaviors can provide significant insight into the context of the event. Such semantic data derived from human behaviors can be used to help interpret and recognize an ongoing event. We present examples from driving and intelligent meeting rooms to support these conclusions, and demonstrate how to use these techniques to improve contextual learning.

关键词： Humans Intelligent systems Intelligent robots Layout Monitoring Air traffic control Vehicle dynamics Cameras Laboratories Intelligent vehicles

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