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检索条件"机构=Computer Vision and Robotics"

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A framework for automating the construction of computational models

A framework for automating the construction of computational...

引用

Congress on Evolutionary Computation

作者： E. Hourdakis P. Trahanias Department of Computer Science University of Crete Greece Computational Vision and Robotics Laboratory Foundation for Research and Technology - Hellas Heraklion Greece

Computational modeling of natural systems can be used for interdisciplinary applications, such as the configuration of robotic systems or the validation of biological ones. Up to date there has been a little progress on suggesting a framework for automating the process of creating a computational model for biological processes. Instead researchers focus on the implementations of systems that are intended to replicate a tight set of biological behaviors. Such framework should be able to construct any system based on the appropriate level of abstraction chosen by the designer, as well as be able to enforce the appropriate biological consistency without compromising on performance or scalability of the generated models. In this paper we propose a framework that can automate the construction of computational models using genetic algorithms and demonstrate how this framework can construct a model of the parieto-frontal and premotor regions involved in grasping.

关键词： Computational modeling Biological system modeling Biology computing Biological systems computer science Brain modeling Genetic algorithms computer vision Robot vision systems Laboratories

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A network architecture for large mobile robotics environments

A network architecture for large mobile robotics environment...

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International Conference on Robot Communication and Coordination, ROBOCOMM

作者： Daniel Moraes Paulo Coelho Eleri Cardozo Thienne Johnson Fernanda Atizani Eliane Guimaraes School of Electrical and Computer Engineering State University of Campinas-UNICAMP Brazil Robotics and Computer Vision Division Information Technology Center Renato Archer-CTI Campinas Brazil

Mobile robotics environments must adopt networking solutions that provide secure and reliable communications for the mobile robots across wide areas such as hospitals, factories, farms, etc. This paper proposes a network architecture for large mobile robotic environments built above the existing networking infrastructures. The architecture builds an overlay network above the already deployed network. The overlay network must fulfill the requirements demanded by mobile robotic applications, mainly, communication continuity during handover, security, and quality of service. A prototype of this architecture was implemented and evaluated in a mobile robotic environment composed of Pioneer P3-DX mobile robots accessed through the Internet. Results from simulation show that the architecture scales well in larger networking scenarios.

关键词： Mobile robots Mobile communication Robot vision systems computer architecture computer vision Hospitals Production facilities Quality of service Network servers Mobile computing

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Gabor-based texture classification through efficient prototype selection via normalized cut

Gabor-based texture classification through efficient prototy...

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IEEE International Conference on Image Processing

作者： Jaime Melendez Domenec Puig Miguel Angel Garcia Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Spain Department of Informatics Engineering Autonomous University of Madrid Spain

This paper presents a new efficient technique for supervised pixel-based texture classification. The proposed scheme first performs a selection process that automatically determines a subset of prototypes that characterize each texture class based on the outcome of a multichannel Gabor wavelet filter bank. Then, every image pixel is classified into one of the given texture classes by using a K-NN classifier fed with the prototypes determined previously. The proposed technique is compared to previous texture classifiers by using both Brodatz and real outdoor textured images.

关键词： Prototypes Gabor filters Pixel Feature extraction Filter bank Testing Intelligent robots Image texture analysis Pattern recognition Image recognition

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A new methodology for evaluation of edge detectors

A new methodology for evaluation of edge detectors

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IEEE International Conference on Image Processing

作者： Rodrigo Moreno Domenec Puig Carme Julià Miguel Angel Garcia Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

This paper defines a new methodology for evaluating edge detectors through measurements on edginess maps instead of on binary edge maps as previous methodologies do. These measurements avoid possible bias introduced by the application-dependent process of generating binary edge maps from edginess maps. The features of completeness, discriminability, precision and robustness, which a general-purpose edge detector must comply with, are introduced. The R, DS, P and FAR-measurements in addition to PSNR applied to the edginess maps are defined to assess the performance of edge detection. The R, DS, P and FAR-measurements can be seen as generalizations of previously proposed measurements on binary edge maps. Well-known and state-of-the-art edge detectors have been compared by means of the new proposed metrics. Results show that it is difficult for an edge detector to comply with all the proposed features.

关键词： Image edge detection Detectors Intelligent robots Robustness Robot vision systems computer vision computer science Mathematics Informatics Tin

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Robust color edge detection through tensor voting

Robust color edge detection through tensor voting

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IEEE International Conference on Image Processing

作者： Rodrigo Moreno Miguel Angel Garcia Domenec Puig Carme Julià Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

This paper presents a new method for color edge detection based on the tensor voting framework, a robust perceptual grouping technique used to extract salient information from noisy data. The tensor voting framework is adapted to encode color information via tensors in order to propagate them into a neighborhood through a voting process specifically designed for color edge detection by taking into account perceptual color differences, region uniformity and edginess according to a set of intuitive perceptual criteria. Perceptual color differences are estimated by means of an optimized version of the CIEDE2000 formula, while uniformity and edginess are estimated by means of saliency maps obtained from the tensor voting process. Experiments show that the proposed algorithm is more robust and has a similar performance in precision when compared with the state-of-the-art.

关键词： Robustness Image edge detection Tensile stress Voting Colored noise Color Detectors Eigenvalues and eigenfunctions Intelligent robots computer vision

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Optimal feature selection for subspace image matching

Optimal feature selection for subspace image matching

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2009 IEEE 12th International Conference on computer vision Workshops, ICCV Workshops 2009

作者： Roig, Gemma Boix, Xavier De La Torre, Fernando GTM-Grup de Recerca de Tecnologies Media La Salle Universitat Ramon Llull c/Quatre Camins 2 08022 Barcelona Spain Computer Vision Center Edifici O Campus UAB 08193 Bellaterra Barcelona Spain Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

ISBN: (纸本)9781424444427

Image matching has been a central research topic in computer vision over the last decades. Typical approaches to correspondence involve matching features between images. In this paper, we present a novel problem for establishing correspondences between a sparse set of image features and a previously learned subspace model. We formulate the matching task as an energy minimization, and jointly optimize over all possible feature assignments and parameters of the subspace model. This problem is in general NP-hard. We propose a convex relaxation approximation, and develop two optimization strategies: naive gradient-descent and quadratic programming. Alternatively, we reformulate the optimization criterion as a sparse eigenvalue problem, and solve it using a recently proposed backward greedy algorithm. Experimental results on facial feature detection show that the quadratic programming solution provides better selection mechanism for relevant features. ©2009 IEEE.

关键词： Quadratic programming

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An evolutionary sonification process based on robotic trajectories

An evolutionary sonification process based on robotic trajec...

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IEEE Latin American robotics Symposium, LARS

作者： A. Moroni T. Spina J. Manzolli Robotics and Computer Vision Division Center for Information Technology Renato Archer Sao Paulo Brazil Interdisciplinary Nucleus of Sound Studies of the State University of Campinas-UNICAMP Brazil

ISBN: (纸本)9781424462568

A new approach which integrates an omnidirectional vision system, real world devices, such as mobile robots, and an interactive evolutionary interface for sound production, is presented. Starting with an evolutionary composition system named VOX POPULI and later JaVOX, a hybrid environment named AURAL has evolved. It uses curves drawn in a GUI and trajectories produced by mobile robots to modify the fitness function of a real time sonic composition. An arena was constructed to allow the interaction between robots and to control the variations of sonic parameters producing real time MIDI data. The navigation supervisor system, the sonification environment and graphic results of real time experiments are briefly described.

关键词： Mobile robots Wheels Optimal control Testing Space technology Energy consumption Robot control Traction motors Artificial intelligence Intelligent robots

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Quantifying perception of nonlinear elastic tissue models using multidimensional scaling

Quantifying perception of nonlinear elastic tissue models us...

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World Haptics Conference

作者： Sarthak Misra Philipp Fuernstahl K. T. Ramesh Allison M. Okamura Matthias Harders Laboratory of Computational Sensing & Robotics Johns Hopkins University Baltimore MD USA Virtual Reality in Medicine Group Computer Vision Laboratory ETH Zurich Zurich Switzerland

Simplified soft tissue models used in surgical simulations cannot perfectly reproduce all material behaviors. In particular, many tissues exhibit the Poynting effect, which results in normal forces during shearing of tissue and is only observed in nonlinear elastic material models. In order to investigate and quantify the role of the Poynting effect on material discrimination, we performed a multi-dimensional scaling (MDS) study. Participants were presented with several pairs of shear and normal forces generated by a haptic device during interaction with virtual soft objects. Participants were asked to rate the similarity between the forces felt. The selection of the material parameters - and thus the magnitude of the shear and normal forces - was based on a pre-study prior to the MDS experiment. It was observed that for nonlinear elastic tissue models exhibiting the Poynting effect, MDS analysis indicated that both shear and normal forces affect user perception.

关键词： Multidimensional systems Surgery Computational modeling Haptic interfaces Biological materials Shearing Humans computer simulation computer vision Biological tissues

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Time perception in shaping cognitive neurodynamics of artificial agents

Time perception in shaping cognitive neurodynamics of artifi...

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International Joint Conference on Neural Networks (IJCNN)

作者： Michail Maniadakis Jun Tani Panos Trahanias 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

Recent research in cognitive systems aims to uncover important aspects of biological cognitive processes and additionally formulate design principles for implementing artificially intelligent systems. Despite the increasing amount of research efforts addressing cognitive phenomena, the issue of time perception and how it is linked to other cognitive processes remains largely unexplored. In the current paper, we make a first attempt for studying artificial time perception by means of simulated robotic experiments. Specifically, we investigate a behavioral rule switching task consisting of repeating trials with dynamic temporal duration. An evolutionary process is used to search for neuronal mechanisms accomplishing the rule switching task taking also into account its particular temporal characteristics. Our repeated simulation experiments showed that (i) time perception and ordinary cognitive processes may co-exist in the system sharing the same neural resources, and (ii) time perception dynamics bias the functionality of neural mechanisms with other cognitive responsibilities. Finally, in the current paper we make contact of the obtained results with previous brain imaging studies on time perception, and we make predictions for possible time-related dynamics in the real brain.

关键词： Neurodynamics Cognitive robotics Intelligent robots Intelligent systems Computational and artificial intelligence Robot vision systems Laboratories Brain modeling Humans computer vision

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Soft-tissue modeling and image-guided control of steerable needles

Soft-tissue modeling and image-guided control of steerable n...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Nasser Sadati Meysam Torabi Reza Vaziri Reza Dehestani-Ardekani Electrical and Computer Engineering Department University of British Columbia Vancouver BC Canada Robotics and Machine Vision Laboratory Biomedical Engineering Division of the School of Electrical Engineering Sharif University of Technology Tehran Iran

In this paper, we exploit a fuzzy controller on a flexible bevel-tip needle to manipulate the needle's base in order to steer its tip in a preset obstacle-free and target-tracking path. Although the needle tends to follow a curvature path, spinning the needle with an extremely high rotational velocity makes it symmetric with respect to the tissue to follow a straight path. The fuzzy controller determines an appropriate spinning to generate the planned trajectory and, the closed-loop system tries to match the needle body with that trajectory. The swine's brain tissue model, extracted from an in-vitro experimental setup, is a non-homogenous, uncertain and fast-updatable network to model real tissues, needle and their interactions providing the essential visual feedback for the control system. The simulation results illustrate a precise path tracking of the bevel-tip needle based on the fuzzy controller's commands with two degrees of freedom.

关键词： Needles Fuzzy control Minimally invasive surgery Brain modeling Spinning Surges Manipulator dynamics Force feedback Intelligent robots Biomedical engineering

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