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

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Counting bicycles using computer vision

Counting bicycles using computer vision

引用

International Conference on Intelligent Transportation

作者： S. Rogers N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

This paper describes a system for monitoring bicycle activity in sequences of gray scale images acquired by a stationary camera. The system is suitable for use in applications that aim to increase the efficiency and safety of existing traffic systems. One such application is to determine usage and congestion of bicycle path. The output of the system is a count of the number of bicycles detected in the image sequence. The system is model-based in the sense that it uses a simple model of two circular objects separated by a relatively known distance. Our system uses four levels of abstraction: raw images, blobs, edge images, and the bicycle model. The system was implemented on a dual Pentium computer equipped with a Matrox imaging board and achieved a peak performance of 8 frames per second. Experimental results based on outdoor scenes have shown promising results for a variety of weather conditions.

关键词： Bicycles computer vision Application software computerized monitoring Cameras Safety Traffic control Image sequences Image edge detection Layout

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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Complementary linear biases in spatial derivative estimation for improving geometry-driven diffusion processes

Complementary linear biases in spatial derivative estimation...

引用

International Conference on Pattern Recognition

作者： W.D. Toczyski N.P. Papnikolopoulos Artificial Intelligence Robotics vision laboratory Department of computer science and Engineering University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

ISBN: (纸本)0769507506

This paper introduces a broadly applicable technique for visibly improving the digitized, grey-level outputs produced by a host of iterative geometric diffusion methods. By replacing standard, central-difference estimates of discrete spatial gradients with alternating image derivative estimates that are offset by known, complementary biases, errors accumulated during iteration are reduced and the quality of geometric diffusions is improved. This unexpected synergy occurs at no added computational cost over central difference methods. Very simple to implement, the innovation is introduced at the level of spatial derivatives; hence, for a given process, any derived higher level mathematical properties-for example, group invariance or scale-space properties-can be preserved.

关键词： Anisotropic magnetoresistance Equations Geometry Image motion analysis Optical filters Pixel Diffusion processes Artificial intelligence Intelligent robots Robot vision systems

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Estimation of acoustical room transfer functions

Estimation of acoustical room transfer functions

引用

IEEE Conference on Decision and Control

作者： T. Gustafsson J. Vance H.R. Pota B.D. Rao M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA School of Electical Engineering University of New South Wales Canberra Australia

ISBN: (纸本)0780366387

Presents a method to obtain room transfer functions for applications in the design of intelligent systems for video conferencing. In these applications the acoustical dynamics, for example, affects the quality of the recorded speech signal and the ability to achieve accurate source localization. The first part of the paper gives results on the identification of parameterized room transfer functions. The second part presents a method to extrapolate room transfer functions from the identified models. The extrapolation is achieved by getting a functional form of the transfer function parameters which depends on the speaker and the microphone locations.

关键词： Transfer functions Loudspeakers Microphones Acoustics Videoconference Speech Transient response Partial differential equations Application software computer vision

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Combining central and peripheral vision for reactive robot navigation

Combining central and peripheral vision for reactive robot n...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： A.A. Argyros F. Bergholm Computer Vision and Robotics Laboratory ICS/FORTH Crete Greece Computational Vision and Active Perception Laboratory Stockholm Sweden

In this paper we present a new method for vision-based, reactive robot navigation that enables a robot to move in the middle of the free space by exploiting both central and peripheral vision. The robot employs a forward-looking camera for central vision and two side-looking cameras for sensing the periphery of its visual field. The developed method combines the information acquired by this trinocular vision system and produces low-level motor commands that keep the robot in the middle of the free space. The approach follows the purposive vision paradigm in the sense that vision is not studied in isolation but in the context of the behaviors that the system is engaged as well as the environment and the robot's motor capabilities. It is demonstrated that by taking into account these issues, vision processing can be drastically simplified still giving rise to quite complex behaviors. The proposed method does not make strict assumptions about the environment, requires very low level information to be extracted from the images, produces a robust robot behavior and is computationally efficient. Results obtained by bath simulations and from a prototype on-line implementation demonstrate the effectiveness of the method.

关键词： Robot vision systems Robot sensing systems Orbital robotics Cameras Navigation Machine vision Data mining Robustness Computational modeling Virtual prototyping

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Face model adaptation with active tracking

Face model adaptation with active tracking

引用

IEEE International Conference on Image Processing

作者： Lijun Yin A. Basu Computer Vision and Robotics Research Laboratory Department of Computing Science University of Alberta Edmonton AB Canada

A system for face model adaptation combining active tracking is presented. Input from an active camera is used for MPEG4 model based coding. First, the background is compensated considering a moving camera (tilt or pan). Second, the talking face is segmented from the compensated background using fusion of frame differences. A morphological filter is then applied to make the system less sensitive to noise. Third, Hough transform and deformable template coupled with color information are exploited to detect the facial features, e.g., eyes, mouth. Fourth, a wireframe model is adapted to the extracted face by an extended dynamic mesh. The feasibility of the proposed system is demonstrated using several real active video sequences.

关键词： Adaptation model Face detection Cameras MPEG 4 Standard Filters Colored noise Facial features Eyes Mouth Data mining

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Shape recognition and vision-based robot control by shape morphing

Shape recognition and vision-based robot control by shape mo...

引用

International Conference on Information Intelligence and Systems

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

The article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration.

关键词： Shape control Robot control Shape measurement Object recognition Physics Deformable models Motion control Manipulators Calibration Humans

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

引用

2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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Shape recognition and vision-based robot control by shape morphing

Shape recognition and vision-based robot control by shape mo...

引用

1999 International Conference on Information Intelligence and Systems, ICIIS 1999

作者： Singh, Rahul Voyles, Richard M. Littau, David Papanikolopoulos, Nikolaos P. Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States Bio-Informatics Division Exelixis Pharmaceuticals 280 E. Grand Avenue So. San FranciscoCA94080 United States

ISBN: (纸本)0769504469

In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration. © 1999 IEEE.

关键词： Object recognition

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Planning of regrasp operations

Planning of regrasp operations

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science Process control Manipulators Production

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