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International Conference on Pattern Recognition

作者： Jihwan Woo Taemin Kim In So Kweon Robotics and Computer Vision Lab School of EECS KAIST

Finding correspondences of two images taken from largely different camera configuration is a challenging problem because appearance information such as color, intensity and edge orientation histogram cannot be used. A probabilistic approach to match line segments in the images is proposed for calculating their homography. A membership matrix to represent contribution of every match to the homography is employed. A relaxed version of forward stepwise regression is derived and the test statistic is optimized. An alternating scheme for optimizing the membership and homography is provided. The simulation results on synthetic images validate the proposed method.

关键词： Image segmentation computer vision Robot vision systems Cameras Histograms Testing Statistical analysis Graph theory Bayesian methods Iterative algorithms

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On the problem of determination of spring stiffness parameters for spring-mesh models

On the problem of determination of spring stiffness paramete...

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Medicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008

作者： Quang Huy Viet, Huynh Hirai, Shinichi Shirai, Yoshiaki Yamaguchi, Satoshi Tanaka, Hiromi T. Kawasaki, Hiroshi Kawai, Yukiko Computer Vision and Graphics Laboratory Department of Information and Computer Science Saitama University Saitama Japan Laboratory for Integrated Machine Intelligence Department of Robotics Ritsumeikan University Kusatsu Japan Computer Vision Lab. Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Japan Kawai Lab. Department of Computer Science Kyoto Sangyo University Kyoto Japan

ISBN: (纸本)9781586038229

On account of having real-time behavior and being easy to implement, spring meshes have been used for modeling deformable objects. Determining spring stiffness parameters for simulation of soft objects with high accuracy still remains a challenge. Allen Van Gelder derived an approximate formula for determining spring stiffness parameters based on strain analysis. Even though the experimental result showed the effectiveness, the method has not been investigated from a quantitative point of view. In this paper we propose a quantitative method for determining spring stiffness parameters. Moreover we propose a method to improve the accuracy by way of introducing torsional spring into the conventional spring mesh model. © 2008 The authors. All rights reserved.

关键词： Stiffness matrix

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Online Robust 3D Mapping Using Structure from Motion Cues

Online Robust 3D Mapping Using Structure from Motion Cues

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OCEANS - Europe

作者： Tudor Nicosevici Rafael Garcia Computer Vision and Robotics Group University of Girona Spain

This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations. Compared to standard structure from motion techniques, this approach decreases the error accumulation while increasing the robustness to scene occlusions and feature association failures. The obtained 3D information is used to generate high quality, composite visual maps of the scene (mosaics). The visual maps are used to create texture-mapped, realistic views of the scene.

关键词： Robustness Cameras Layout Motion estimation Proposals Robot vision systems Biology computing computer vision Video sequences Biological system modeling

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Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter 08

Hybrid tracking of human operators using IMU/UWB data fusion...

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Corrales, J.A. Candelas, F.A. Torres, F. Automatics Robotics and Computer Vision Group Physics Systems Engineering and Signal Theory Department University of Alicante 03690 San Vicente del Raspeig Alicante Spain

ISBN: (纸本)9781605580173

The precise localization of human operators in robotic workplaces is an important requirement to be satisfied in order to develop human-robot interaction tasks. Human tracking provides not only safety for human operators, but also context information for intelligent human-robot collaboration. This paper evaluates an inertial motion capture system which registers full-body movements of an user in a robotic manipulator workplace. However, the presence of errors in the global translational measurements returned by this system has led to the need of using another localization system, based on Ultra-WideBand (UWB) technology. A Kalman filter fusion algorithm which combines the measurements of these systems is developed. This algorithm unifies the advantages of both technologies: high data rates from the motion capture system and global translational precision from the UWB localization system. The developed hybrid system not only tracks the movements of all limbs of the user as previous motion capture systems, but is also able to position precisely the user in the environment. Copyright 2008 ACM.

关键词： Kalman filters

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Towards Detecting Changes in Underwater Image Sequences

Towards Detecting Changes in Underwater Image Sequences

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OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean (OCEANS Kobe 2008), vol.2

作者： Olivier Delaunoy Nuno Gracias Rafael Garcia Computer Vision and Robotics Group University of Girona Spain

Detecting changes between images of the same scene taken at different times is of great interest for monitoring and understanding the environment. It is widely used for on-land application but suffers from different constraints. Unfortunately, Change detection algorithms require highly accurate geometric and photometric registration. This requirement has precluded their use in underwater imagery in the past. In this paper, the change detection techniques available nowadays for on-land application were analyzed and a method to automatically detect the changes in sequences of underwater images is proposed. Target application scenarios are habitat restoration sites, or area monitoring after sudden impacts from hurricanes or ship groundings. The method is based on the creation of a 3D terrain model from one image sequence over an area of interest. This model allows for synthesizing textured views that correspond to the same viewpoints of a second image sequence. The generated views are photometrically matched and corrected against the corresponding frames from the second sequence. Standard change detection techniques are then applied to find areas of difference. Additionally, the paper shows that it is possible to detect false positives, resulting from non-rigid objects, by applying the same change detection method to the first sequence exclusively. The developed method was able to correctly find the changes between two challenging sequences of images from a coral reef taken one year apart and acquired with two different cameras.

关键词： Underwater tracking Image sequences Monitoring Photometry Object detection Layout Detection algorithms Image analysis Image sequence analysis Image restoration

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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S+T: An algorithm for distributed multirobot task allocation based on services for improving robot cooperation

S+T: An algorithm for distributed multirobot task allocation...

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2008 IEEE International Conference on robotics and Automation, ICRA 2008

作者： Viguria, Antidio Maza, Ivan Ollero, Anibal School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States Robotics Vision and Control Group University of Seville 41092 Seville Spain

ISBN: (纸本)9781424416479

In this paper, we present a distributed market-based algorithm called S+T, which solves the multi-robot task allocation (MRTA) problem in applications that require the cooperation among the robots to accomplish all the tasks. If a robot cannot execute a task by itself, it asks for help and, if possible, another robot will provide the required service. In the paper, tasks consisting in transmitting data in real-time that could require communication relay services are considered. On the other hand, the parameters of the algorithm can be adapted to give priority to either the execution time or the energy consumption in the mission. The potential generation of deadlocks associated to the relation between tasks and services is studied, and as an original result, a distributed algorithm that prevent them is proposed. The algorithm has been tested in simulations that illustrate the main features of the S+T algorithm. ©2008 IEEE.

关键词： Energy utilization

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Assembly/disassembly strategies for service applications

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IFAC Proceedings Volumes 2008年第2期41卷 15805-15810页

作者： Puente ST F. Torres C. Díaz Automatics Robotics and Computer Vision Group Physics Systems Engineering and Signal Theory Department University of Alicante Spain

This paper presents a development of assembly/disassembly systems to be applied in service applications. It uses algorithms developed for industrial applications to perform the service tasks. A robotic system to perform service applications in a cooperative environment with a human is used. The system uses product model to perform the task planning, with the designed task the required grasping points to manipulate the objects are computed according the restrictions. Two experimental results of applying the system to service applications are described.

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Human body modelling and tracking using volumetric representation: Selected recent studies and possibilities for extensions

Human body modelling and tracking using volumetric represent...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

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

Articulated human body modeling and tracking from vision data is an attractive research area with many potential applications. There has been a tremendous amount of related research works in this area. Therefore, having a comprehensive insight into high quality existing works and awareness of the research frontier in the area is essential for follow-up research studies. With that objective, this paper provides a review of the subarea of model based methods for human body modeling and tracking using volumetric (voxel) data. We will focus on analyzing and comparing some recent techniques, especially which are in the past two years, in order to highlight trends in the domain as well as to point out limitations of the current state of the art. Based on this analysis, we will discuss our idea of combining Laplacian Eigenspace (LE) based voxel segmentation [20] and Kinematically Constrained Gaussian mixture model (KC-GMM) method [3] to have a more powerful human body pose estimation system as well as discuss other possibilities for future work.

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Particle filtering with rendered models: A two pass approach to multi-object 3D tracking with the GPU

Particle filtering with rendered models: A two pass approach...

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

作者： Erik Murphy-Chutorian Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

We describe a new approach to vision-based 3D object tracking, using appearance-based particle filters to follow 3D model reconstructions. This method is targeted towards modern graphics processors, which are optimized for 3D reconstruction and are capable of highly parallel computation. We discuss an OpenGL implementation of this approach, which uses two rendering passes to update the particle filter weights. In the first pass, the system renders the previous object state estimates to an off-screen framebuffer. In the second pass, the system uses a programmable vertex shader to compute the mean normalized cross-correlation between each sample and the subsequent video frame. The particle filters are updated using the correlation scores and provide a full 3D track of the objects. We provide examples for tracking human heads in both single and multi-camera scenarios.

关键词： Filtering Particle tracking Rendering (computer graphics) Particle filters Target tracking Graphics Optimization methods Concurrent computing State estimation Humans

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