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Pedestrian tracking from a stationary camera using active deformable models

Pedestrian tracking from a stationary camera using active de...

引用

IEEE Symposium on Intelligent Vehicle

作者： M.J. Sullivan C.A. Richards C.E. Smith O. Masoud N.P. Papanikolopoulos Artificial Intelligence Department of Computer Science Robotics and Vision Laboratory University of Minnesota Minneapolis MN USA

The system proposed in this paper uses active deformable models to track pedestrians moving in dynamic real-world scenes. First, figure pixels are separated from a fixed or slowly evolving ground image. Then, an initial segmentation process identifies interesting pixel blobs for tracking. The output of the segmentation process is used to choose the starting position of the control points of the active deformable model. Once tracking has begun, the control points are updated at frame rates by minimizing an energy function involving the relative position of model points, image data, and the characteristics of figure pixels.

关键词： Cameras Deformable models Biological system modeling Layout Humans Motion analysis computer vision Dynamic programming Leg Legged locomotion

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vision-based intelligent control of transportation systems

Vision-based intelligent control of transportation systems

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： C.A. Richards C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

In response to the overcrowding of transportation systems, there has been an increase in the emphasis placed upon intelligent vehicle/highway systems (IVHS). Whether the application is keeping a safe distance between vehicles on highways or allowing a pedestrian to safely cross a street, environmental sensing and control play a crucial role in IVHS applications. In this paper we present robust visual detection and tracking techniques for IVHS applications, where computer vision may be the only sensor used or a part of a larger multi-sensor system. We have selected the application of pedestrian detection and tracking to demonstrate that the controlled active vision framework can provide precisely the type of information required to effectively manage traffic situations.

关键词： Intelligent control Intelligent transportation systems Application software Road transportation Intelligent vehicles Road vehicles Vehicle safety Robustness computer vision Sensor systems and applications

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The automatic detection and visual tracking of moving objects by eye-in-hand robotic systems

The automatic detection and visual tracking of moving object...

引用

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： C.A. Richards N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Traditionally, the robotic visual servoing/tracking problem has received attention from researchers for its interesting control and computer vision issues. However many visual servoing tasks also require the ability to automatically detect moving objects. Until recently, very few efforts have been reported in the area of automatic detection of servoing targets. This paper presents a robust detection scheme for use in robotic visual servoing experiments. It detects and tracks moving objects through the use of a "figure/ground" approach. Experimentation has shown the feasibility of this approach under general conditions. This paper provides a description of the authors system implementation in an experimental robotic system, along with a collection of results. The paper also contains a discussion of problems and issues for future work.

关键词： Object detection robotics and automation Visual servoing Robot vision systems Intelligent robots Robot sensing systems Target tracking Automatic control Feedback loop Adaptive control

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Grasping of static and moving objects using a vision-based control approach

Grasping of static and moving objects using a vision-based c...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.E. Smith N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

Recent work combining robotics with vision has emphasized an active vision paradigm where the system changes the pose of the camera to improve environmental knowledge or to establish and presence a desired relationship between the robot and objects in the environment. Much of this work has concentrated upon the active observation of objects by the robotic agent. In this paper we present extensions to the controlled active vision framework that focus upon the autonomous grasping of a moving or static object in the manipulator's workspace. Our work extends the capabilities of an eye-in-hand system beyond those as a "pointer" or a "camera orienter" to provide the flexibility required to robustly interact with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota robotic visual tracker to automatically select object features, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in the grasping of a moving or static object.

关键词： Robot sensing systems Robot vision systems Cameras Manipulators Intelligent robots Grippers Charge-coupled image sensors Artificial intelligence Laboratories computer science

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A system for automatically detecting and tracking objects using a visually-guided manipulator

A system for automatically detecting and tracking objects us...

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IEEE International Conference on Systems, Man and Cybernetics

作者： C.A. Richards N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Department of Computer Science University of Stanford Stanford CA USA

This paper presents a framework for the automatic visual detection of moving objects in robotic servoing tasks. The paper describes a "figure/ground" scheme which is able to perform detection without making many assumptions that would limit the generality of the approach. We describe optimizations which allow for real-time execution of the frame-differencing that is the basis of our framework. Experimentation has demonstrated that the results of the visual detection can provide information helpful in focusing attention on a specific subset of objects. Furthermore, we show how the detection technique can be integrated with existing methods for visual tracking. We mention some details that have been addressed in order to apply these theories to an actual robotic system, including the use of an optimal controller Our paper explains how this framework has been implemented in our experimental robotic system MRVT, and it describes several results obtained from this experimentation.

关键词： Object detection Pixel robotics and automation Manipulators Intelligent robots Robot vision systems computer science Visual servoing Optical computing Artificial intelligence

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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

引用

IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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Sensorless manipulation using transverse vibrations of a plate

Sensorless manipulation using transverse vibrations of a pla...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer V. Bhatt K.Y. Goldberg Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA Sibley School of Mechanical and AeroSpace Engineering Cornell University Ithaca NY USA Department of Computer Scienc University of Southern California Los Angeles CA USA

The existing industrial parts feeders move the parts through a sequence of mechanical filters that reject parts in unwanted orientations. In this paper we develop a new setup that uses a different vibratory mechanism to systematically manipulate parts, by actively orienting and localizing them. The idea is to generate and change dynamic modes for a plate by varying the applied frequency of oscillation. Depending on the node shapes of the plate for these frequencies, the position and orientation of the parts can be controlled. We develop an analysis of the underlying dynamics, and show that it can be used to predict the behavior of objects placed on the vibrating plate. Using this analysis, we propose that the applied frequencies can be automatically sequenced to obtain a "sensorless" strategy for manipulating a given object.

关键词： Filters Frequency Sensor systems Vibrations computer science Aerodynamics Shape control Assembly Costs Tactile sensors

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Using vision-based control techniques for grasping objects

Using vision-based control techniques for grasping objects

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： C.E. Smith N.P. Papanikolopoulous Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US Dept. of Comput. Sci. Minnesota Univ. Minneapolis MN USA

We present additions to the controlled active vision framework that focus upon the autonomous grasping of a moving object in the manipulator's workspace. Our work extends the capabilities of an eye-in-hand robotic system beyond those as a "pointer" or a "camera orienter" to provide the flexibility required to robustly interact with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota Robotic Visual Tracker (MRVT) to automatically select object features, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in the grasping of a moving object. The system grasps objects in the manipulator's workspace without requiring the object to follow a specific trajectory and without requiring the object to maintain a specific orientation.

关键词： Robot vision systems Manipulators robotics and automation Cameras Grippers Robustness Uncertainty Automatic control Optical distortion Artificial intelligence

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Adaptive visual tracking algorithm and real-time implementation

Adaptive visual tracking algorithm and real-time implementat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Colmputer Engineerirrg Department University of Tennessee Knoxville TN USA University of Tennessee Knoxville Knoxville TN US Dept. of Electr. & Comput. Eng. Tennessee Univ. Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The minimum noise and correlation energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 Hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation.

关键词： Target tracking Cameras Robot vision systems Filters Visual servoing Image motion analysis computer vision Laboratories Power engineering and energy Pipelines

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