This paper describes one aspect of a project whose goal is to move a robot in an unknown environment and find pipes to decommission. While moving through the environment a low level map, in the form of an occupancy gr...
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This paper describes one aspect of a project whose goal is to move a robot in an unknown environment and find pipes to decommission. While moving through the environment a low level map, in the form of an occupancy grid, along with detailed location of pipes in the environment are obtained. This paper deals only with the low level "reflex" of obstacle avoidance that is performed while the robot moves along its path as well as some of the higher level tasks involved in path planning and robot motion in order to negotiate through a hazardous environment. The overall high level interaction with the system is made as simple and user friendly as possible using a graphical interface to control high level tasks. All low level communications and processing are transparent. The robot used for experimentation is a wheeled mobile platform equipped with many different sensors including ultrasonic range sensors and cameras. A quick and efficient obstacle avoidance algorithm has been developed using sixteen ultrasonic range sensor and one infrared proximity sensor.< >
Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GS...
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Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.
Intelligent meeting rooms should support efficient and effective interactions among their occupants. In this paper, we present our efforts toward building intelligent environments using a multimodal sensor network of ...
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Intelligent meeting rooms should support efficient and effective interactions among their occupants. In this paper, we present our efforts toward building intelligent environments using a multimodal sensor network of static cameras, active (pan/tilt/zoom) cameras and microphone arrays. Active cameras are used to capture details associated with interesting events. The goal is not only to make a system that supports multi-person interactions in the environment in real time, but also to have the system remember the past, enabling reviews of past events in an intuitive and efficient manner. In this paper, we present the system specifications and major components, integration framework, active network control procedures and experimental studies involving multi-person interactions in an intelligent meeting room environment.
A binocular robot head, BETH, with ten degrees of freedom (DOF) has been developed for research in active vision. To complement BETH, a graphical simulation and visualization environment has also been developed. The o...
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A binocular robot head, BETH, with ten degrees of freedom (DOF) has been developed for research in active vision. To complement BETH, a graphical simulation and visualization environment has also been developed. The objective of building the graphical system is to create a comprehensive design tool to design and study the dynamic behavior of sensory-motor systems and their interactions with the environment. This environment integrates perception and motor actions and features complete kinematic simulation of BETH, it's sensors and it's workspace. We demonstrate the utility of this environment in systematic and extensive experimental development of computational frameworks and algorithms for 3D active vision systems which utilizes multiple passive depth cues (stereo, vergence, and depth from focusing).< >
Tracking pedestrians is an area of computervision that has attracted a lot of interest in recent years. Many of these work was conducted in the visible spectrum. Some work was also conducted in thermal infrared spect...
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Texture is an important preattentive cue in region-based segmentation of images. In this paper, we discuss the use of circular-Mellin features for segmenting an image into homogenous regions. The circular-Mellin opera...
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Texture is an important preattentive cue in region-based segmentation of images. In this paper, we discuss the use of circular-Mellin features for segmenting an image into homogenous regions. The circular-Mellin operators represent the spectral decomposition of the image scene in the polar-log coordinate system and are invariant to both scale and orientation of the target. Coupled with the unique shift invariance property of the correlator architecture, these circular-Mellin operators can be used for rotation- and scale-invariant feature extraction. We note that while both these feature extractors have similar functional form to the Gabor functions, the distortion-invariant characteristics of the circular-Mellin operators make them preferable for texture segmentation. Segmentation results to demonstrate their salient properties are presented.< >
In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for ...
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ISBN:
(纸本)0769512720
In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panoramic camera. As the robot departs from its initial position, it tracks characteristic features of the environment (corners). As soon as homing is activated, the robot selects intermediate target positions on the original path. These intermediate positions (IPs) are then visited sequentially, until the home position is reached. For the robot to move between two consecutive IPs, it is only required to establish correspondence among at least three corners. This correspondence is obtained through a feature tracking mechanism. The proposed homing scheme is based on the extraction of very low-level sensory information, namely the bearing angles of corners, and has been implemented on a robotic platform. Experimental results show that the proposed scheme achieves homing with a remarkable accuracy, which is not affected by the distance traveled by the robot.
The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operato...
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The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.
This paper deals with the development of novel sensory systems and interfaces to enhance the safety of a driver who may be using a cell phone. It describes a system for real time affect analysis and Tele-viewing in or...
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This paper deals with the development of novel sensory systems and interfaces to enhance the safety of a driver who may be using a cell phone. It describes a system for real time affect analysis and Tele-viewing in order to bring the context of the driver to remote users. The system is divided into two modules. The affect recognition module recognizes six emotional states of the driver. The face-modeling module generates a 3D model of the driver's face using two images and synthesizes the emotions on it. Depending on bandwidth, either a raw video, 3D warped model, or an iconic representation is sent to the remote user.
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