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IEEE International Conference on Image Processing

作者： R. Orghidan J. Salvi E.M. Mouaddib Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Catalonia Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules-Verne Amiens France

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc.

关键词： Cameras Robot vision systems Robot sensing systems Layout Mirrors Application software computer vision Navigation robotics and automation Laser modes

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Proposal of a parallel architecture for a motion detection algorithm

Proposal of a parallel architecture for a motion detection a...

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International Conference on Pattern Recognition

作者： V. Ila R. Garcia F. Charot Computer Vision and Robotics Group Institute of Informatics and Applications Girona Spain Institute de Recherche en Informatique et en Systemes Aleatoires Rennes France

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed.

关键词： Proposals Parallel architectures Motion detection Motion estimation Image processing computer architecture computer vision Robot vision systems Cameras Application software

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ROV-aided dam inspection: Practical results 6

ROV-aided dam inspection: Practical results

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6th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2003

作者： Batlle, Joao Nicosevici, Tudor Garcia, Rafael Carreras, Marc Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona E.P.S. Girona17071 Spain

Nowadays Unmanned Underwater Vehicles (UlNs) are used in a growing number of underwater missions, mostly inspections of different types of installations such as: telecommunication cables, pipes or oil extraction installations. A field where UUVs are still starting to prove their utility is dam inspection. This paper presents details our first approach in dam inspection. A set of experiments carried out at a dam in Romania is described. Advantages and drawbacks of using a small-class underwater vehicle are analyzed for this type of missions. Copyright © 2003 IFAC

关键词： computer vision

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Calibration of A Structured Light-Based Stereo Catadioptric Sensor

Calibration of A Structured Light-Based Stereo Catadioptric ...

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

作者： Radu Orghidan Joaquim Salvi El Mustapha Mouaddib Computer Vision and Robotics Group Institute of Informatics and Applications Girona Catalonia Spain

Catadioptric sensors are combinations of mirrors and lenses made in order to obtain a wide field of view. In this paper we propose a new sensor that has omnidirectional viewing ability and it also provides depth information about the nearby surrounding. The sensor is based on a conventional camera coupled with a laser emitter and two hyperbolic mirrors. Mathematical formulation and precise specifications of the intrinsic and extrinsic parameters of the sensor are discussed. Our approach overcomes limitations of the existing omni-directional sensors and eventually leads to reduced costs of production.

关键词： Mirrors Cameras Mathematical model Robot sensing systems Equations Laser modes Lasers

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Towards a real-time vision-based navigation system for a small-class UUV

Towards a real-time vision-based navigation system for a sma...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Garcia T. Nicosevici P. Ridao D. Ribas Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory.

关键词： Real time systems Motion estimation Underwater vehicles Sea measurements Position measurement Dead reckoning Sonar navigation Robot vision systems Hydrodynamics Costs

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Active regions for colour texture segmentation integrating region and boundary information

Active regions for colour texture segmentation integrating r...

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IEEE International Conference on Image Processing

作者： X. Munoz J. Freixenet X. Cufi J. Marti Computer Vision and Robotics Group. Institute of Informatics and Applications University of Girona Girona Spain

In this paper a colour texture segmentation method, which unifies region and boundary information, is proposed. The algorithm uses a coarse detection of the perceptual (colour and texture) edges of the image to adequately place and initialise a set of active regions. Colour texture of regions is modelled by the conjunction of non-parametric techniques of kernel density estimation (which allow to estimate the colour behaviour) and classical co-occurrence matrix based texture features. Therefore, region information is defined and accurate boundary information can be extracted to guide the segmentation process. Regions concurrently compete for the image pixels in order to segment the whole image taking both information sources into account. Furthermore, experimental results are shown which prove the performance of the proposed method.

关键词： Image segmentation Proposals Data mining Image edge detection Pixel computer vision Robot vision systems Informatics Application software Kernel

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ROV-Aided Dam Inspection: Practical Results

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IFAC Proceedings Volumes 2003年第21期36卷 271-274页

作者： Joan Batlle Tudor Nicosevici Rafael Garcia Marc Carreras Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona E.P.S. 17071 Girona Spain

Nowadays Unmanned Underwater Vehicles (UUVs) are used in a growing number of underwater missions, mostly inspections of different types of installations such as: telecommunication cables, pipes or oil extraction installations. A field where UUVs are still starting to prove their utility is dam inspection. This paper presents details our first approach in dam inspection. A set of experiments carried out at a dam in Romania is described. Advantages and drawbacks of using a small-class underwater vehicle are analyzed for this type of missions.

关键词： computer vision teleoperation fault detection motion estimation

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Calibration of A Structured Light-Based Stereo Catadioptric Sensor

Calibration of A Structured Light-Based Stereo Catadioptric ...

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Conference on computer vision and Pattern Recognition Workshop, CVPRW 2003

作者： Orghidan, Radu Salvi, Joaquim Mouaddib, El Mustapha Computer Vision and Robotics Group Institute of Informatics and Applications Universitat de Girona Avda. Lluis Santalo s/n GironaCatalonia17071 Spain Centre de Robotique Electrotechnique et d'Automatique Université de Picardie Jules Verne Rue du Moulin Neuf Amiens80000 France

ISBN: (纸本)0769519008

关键词： Stereo vision

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An approach to vision-based station keeping for an unmanned underwater vehicle

An approach to vision-based station keeping for an unmanned ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： X. Cufi R. Garcia P. Ridao Computer Vision and Robotics Group Institute oflnformatics and Applications University of Girona Girona Spain

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented.

关键词： Underwater vehicles Cameras Remotely operated vehicles Motion estimation computer vision Motion detection Robot vision systems Testing Vehicle detection Sea floor

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Augmented state Kalman filtering for AUV navigation

Augmented state Kalman filtering for AUV navigation

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Garcia J. Puig P. Ridao X. Cufi Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position.

关键词： Kalman filters Filtering Navigation Motion estimation Underwater vehicles Oceans Remotely operated vehicles Cameras Sea floor State estimation

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