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检索条件"机构=Computer Vision and Robotics Laboratory Computer Vision and Robotics Laboratory"

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vision modules for a multi-sensory bridge monitoring approach

Vision modules for a multi-sensory bridge monitoring approac...

引用

International Conference on Intelligent Transportation

作者： R. Chang T. Gandhi M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

This work presents the use of multiple sensor modalities in order to perform traffic analysis for health monitoring of transportation infrastructure. In particular, testbeds containing video and seismic sensors giving complementary information about vehicles are described. computer vision algorithms are used to detect and track the vehicles and extract their properties. This information is combined with the data from seismic sensors for robust classification of vehicles. Experimental results obtained with our testbeds are described.

关键词： Bridges computerized monitoring Testing Performance analysis Transportation Sensor phenomena and characterization computer vision Vehicle detection Data mining Robustness

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Human perception based color image quantization

Human perception based color image quantization

引用

International Conference on Pattern Recognition

作者： Kuk-Jin Yoon In-So Kweon Department of Electric Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea

ISBN: (纸本)0769521282

We present a new algorithm for color image quantization based on human color perception properties. We construct two kinds of map by analyzing the spatial color distributions to take account of the human visual system: homogeneity map (H-map) and distinctiveness map (D-map). Then, we assign weight value to all color vectors by combining these maps to consider two factors at the same time. To extract representative colors, we define a new cost function and use the LKMA (local k-means algorithm) with weighted color vectors. In this stage, we utilize an incremental splitting scheme with a penalty term to determine optimal number of clusters adaptively. The experimental results show that the proposed algorithm reproduces an image preserving significant local features while removing unimportant details of an original image from the viewpoint of human.

关键词： Humans Quantization Clustering algorithms Image color analysis Visual system Cost function Image segmentation Distortion measurement Robot vision systems computer vision

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Pose invariant affect analysis using thin-plate splines

Pose invariant affect analysis using thin-plate splines

引用

International Conference on Pattern Recognition

作者： J.C. McCall M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

This paper introduces a method for pose-invariant facial affect analysis and a real-time system for facial affect analysis using this method. The method is centered on developing a feature vector that is more robust to rigid body movements while retaining information important to facial affect analysis. This feature vector is produced using thin-plate splines to extract affine transformations independently from nonlinear transformations quickly and efficiently. The affine portion can be used to describe the rigid body motion because planar motions in a perspective projection can be approximated by an affine transformation. Removing the affine portion and using the nonlinear portion of the thin-plate spline warping provides information on the nonlinear motion caused by facial affects. The real-time system developed using this method is composed of three main components: facial landmark tracking, feature vector extraction, and affect classification. The system processes streaming video in real-time. Testing was performed to examine the invariance to rotation as well as subject independence of the system. Finally, its application in real-world environments is discussed.

关键词： Magnetic heads Real time systems Robustness Data mining Feature extraction Machine vision computer vision Robot vision systems Laboratories Information analysis

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Visual context capture and analysis for driver attention monitoring

Visual context capture and analysis for driver attention mon...

引用

International Conference on Intelligent Transportation

作者： J.C. McCall M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

Driver distraction is recognized as a major factor in the cause of automobile accidents. Therefore, it is extremely important for an intelligent driver support system to be able to monitor the driver's attentive state. This paper proposes a system to monitor driver attention based on a variety of information sources. The LISA-Q test vehicle is used to synchronously capture video, audio, vehicle information, LASER RADAR information, and GPS information as input to the driver state evaluation. Information about the driver's facial affects, lane keeping, steering movements, and time headway are all extracted from the multimodal data streams and evaluated.

关键词： Monitoring Vehicle driving Laser radar Automobiles Accidents Intelligent systems Testing Global Positioning System Data mining Streaming media

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An integrated, robust approach to lane marking detection and lane tracking

An integrated, robust approach to lane marking detection and...

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IEEE Symposium on Intelligent Vehicle

作者： J.C. McCall M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

Lane Detection is a difficult problem because of the varying road conditions that one can encounter while driving. We propose a method for lane detection using steerable filters. Steerable filters provide robustness to lighting changes and shadows and perform well in picking out both circular reflector road markings as well as painted line road markings. The filter results are then processed to eliminate outliers based on the expected road geometry and used to update a road and vehicular model along with data taken internally from the vehicles. Results are shown for a 9000-frame image sequence that include varying lane markings, lighting conditions, showing, and occlusion by other vehicles.

关键词： Robustness Filters Road vehicles Remotely operated vehicles Road transportation Vehicle detection Detectors computer vision Vehicle driving Mobile robots

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Design of an instrumented vehicle test bed for developing a human centered driver support system

Design of an instrumented vehicle test bed for developing a ...

引用

IEEE Symposium on Intelligent Vehicle

作者： J.C. McCall O. Achler M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

We introduce a new type of intelligent vehicle test-bed that is enabling new research in the field. This new test-bed is designed to capture not just a portion of the vehicle surround, but rather the entire vehicle surround as well as the vehicle interior and vehicle state for extended periods of time. This is accomplished using multiple modalities of sensor systems so that it conform a complete context of the vehicle. This allows new research to be performed in intelligent vehicle algorithm development and allows studies in driver behavior to be performed. We also show results from some of the research being performed using this test-bed.

关键词： Instruments Vehicle driving System testing Humans Intelligent vehicles Sensor systems Automobiles Global Positioning System Remotely operated vehicles Laboratories

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Face detection and head tracking using stereo and thermal infrared cameras for "smart" airbags: a comparative analysis

Face detection and head tracking using stereo and thermal in...

引用

International Conference on Intelligent Transportation

作者： S.J. Krotosky S.Y. Cheng M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

vision based systems for "smart" airbag systems aim to give precise information about occupant pose and location. This information can be used to make intelligent airbag deployment decisions. This paper reviews both a stereo-based and long wave infrared-based system for "smart" airbag deployment. The algorithms are systematically evaluated through extensive real-time occupant tests. Data for both algorithms is simultaneously collected and evaluated for viability in an intelligent airbag system. Results of these experimental trials show the feasibility of each video based occupant position analysis system. Advantages and drawbacks of each method are discussed and potential solutions are suggested.

关键词： Face detection Infrared detectors Smart cameras Lighting Information analysis Real time systems System testing Intelligent systems Machine vision Automobiles

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Distributed omni-video arrays and digital tele-viewer for customized viewing, event detection and notification

Distributed omni-video arrays and digital tele-viewer for cu...

引用

International Conference on Information Technology: Coding and Computing (ITCC)

作者： M.M. Trivedi K.S. Huang Tarak Gandhi B. Hall K. Harlow Computer Vision and Robotics Research (CVRR) Laboratory University of California San Diego USA

Recent innovations in real-time machine vision, distributed computing, software architectures, and encrypted high-speed networking are expanding the available technology for intelligent camera arrays on televiewing and interactive applications. In this paper we describe research aimed at the realization of a powerful televiewing system using arrays of omnidirectional cameras. The video arrays provide an interactive, real-time, multiresolution televiewing interface to multiple people including physical security and emergency response crews simultaneously. Security measures such as authentication and network encryption are implemented on multiple platforms. Fusion of high-resolution rectilinear image over the omnidirectional image is also carried out. computer vision techniques based on motion analysis are used for detecting interesting events. The televiewing system is verified for the performance as well as physically tested on the Super Bowl 2003 event for crowd detection and traffic monitoring.

关键词： Event detection Cryptography Cameras Power system security Technological innovation Machine vision Distributed computing Software architecture High-speed networks Intelligent networks

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Cascaded filter approach to multi-objective control

Cascaded filter approach to multi-objective control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Thibodeau S.W. Hart D.R. Karuppiah J.D. Sweeney O. Brock Laboratory for Perceptual Robotics Computer Science Department University of Massachusetts Amherst USA Computer Vision Laboratory University of Massachusetts Amherst USA

In this paper we propose a new approach for multi-objective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is motivated by other control methods that prevent destructive control interactions through null space projections. We apply this approach to a practical leader/follower task in which a mobile robot must address the conflicting objectives of moving to a goal position while avoiding obstacles and keeping a region of the workspace within the field of view of a fixed camera mounted on the platform. We experimentally verify our approach using the Segway Robotic Mobility Platform (RMP), a dynamically stable, differential drive mobile robot.

关键词： Filters Robot kinematics Null space Mobile robots Laboratories Robot vision systems Control systems Cameras Decision making Orbital robotics

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Vehicle wheel detector using 2D filter banks

Vehicle wheel detector using 2D filter banks

引用

IEEE Symposium on Intelligent Vehicle

作者： O. Achler M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Detecting vehicles from a moving vehicle is an important task. In this paper a new vehicle detector is introduced. The new vehicle detector employs the use of the ubiquitous wheel. Every car has wheels; this wheel detector finds wheels and infers vehicle location from the wheel detection. Views from an omnidirectional camera are used to generate side view images. These images are processed using a difference of Gaussian filter bank. The responses from the filter bank are applied to a precomputed set of principle components. The principle component responses are compared against a Gaussian mixture model of wheels and Gaussian model roadbed. Wheel candidates are chosen and tracked. Initial experimental results along with analysis are shown.

关键词： Vehicle detection Wheels Detectors Channel bank filters Vehicles Cameras Roads Principal component analysis Vehicle driving Filter bank

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