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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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A constrain-move based distributed cooperation strategy for four object lifting robots

A constrain-move based distributed cooperation strategy for ...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： M.N. Ahmadabadi S.M. Rushan ZhiDong Wang E. Nakano Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Eng University of Tehran Tehran Iran Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Advanced Robotics Laboratory The Graduate School of Info. Sciences University of Tohoku Sendai Japan

This paper extends the constrain-move strategy for four robots lifting an object in a distributed manner. Ahmadabadi et al. (1996, 1998) have successfully applied constrain-move to three robots, but due to existence of redundancy in vertical forces in a team of four robots, this protocol is not applicable to such systems in its original form. In the presented cooperation strategy, the robots support the load on its bottom face and there is no lateral artificial constraint on the object. The distributed coordination protocol is designed in such a way that with minimum volume of communication and implementing their own local sensors, the robots can lift the object while its Euler angles and robot-object contact are controlled. Stability condition for the system is attained mathematically. Simulation results are given to support the applicability of the presented system.

关键词： Robot kinematics Protocols Robot sensing systems Multiagent systems Intelligent robots Redundancy Robot control Communication system control Stability Intelligent agent

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Fuzzy cognitive maps: a soft computing technique for intelligent control

Fuzzy cognitive maps: a soft computing technique for intelli...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C. Stylios P.P. Groumpos Laboratory for Automation & Robotics Department of Electrical & Computer Engineering University of Patras Rio-Patras Greece

This paper describes a soft computing technique for modelling and controlling systems: fuzzy cognitive maps (FCM). The description, representation and models of FCM are examined in detail. A FCM model is proposed, its characteristics and advantages are presented, and a development algorithm is described. Fuzzy cognitive maps and similar soft computing techniques may contribute to the development of more sophisticated systems.

关键词： Fuzzy cognitive maps Intelligent control Fuzzy systems computer networks Fuzzy logic Neural networks Fuzzy neural networks robotics and automation Signal processing algorithms Genetic algorithms

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A Genetic Algorithm for Warehouse Multi-Objective Optimisation

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IFAC Proceedings Volumes 2000年第17期33卷 963-969页

作者： S.G. Tzafestas P. Poulos G.G. Rigatos A. Koukos Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The rapid increase of warehouse use demands automated management services in order to make decisions for all tasks concerned. These decisions must ensure optimised usage of resources, which leads to cost reduction and better customer service. A major consideration is the way the warehouse area, which consists of different storage types and similar product groups, is exploited. The optimisation of the warehouse's occupied area is the target of replenishment, which iS essentially a constrained placement problem. In this paper, a genetic algorithm with revised operators iS developed. This algorithm is applied to real warehouse data and results show that it produces successful replenishments in a complex environment where many criteria have to be considered and met to some user-defined extent.

关键词： genetic algorithms multi-objective optimisation constrained placement warehouse management

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Estimation of acoustical room transfer functions

Estimation of acoustical room transfer functions

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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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An adaptive deterministic annealing approach for medical image segmentation

An adaptive deterministic annealing approach for medical ima...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： S. Mitra R. Castellanos S. Joshi Computer Vision and Image Analysis Laboratory Department of Electrical and Computer Engineering Texas Tech University Lubbock TX USA

We present a stochastic model based technique that uses the concept of deterministic annealing to obtain a generalized solution to the nonconvex optimization problem encountered by many image segmentation techniques. Deterministic annealing [DA] is an elegant and useful tool for clustering and classification. This novel optimization approach works with the efficiency of a deterministic procedure and has been successfully applied to a number of combinatorial optimization problems. We demonstrate effective segmentation of simulated MR brain images and provide a quality measure for accuracy of classification. A generalized deterministic annealing procedure, which works tender a structural constraint of mass or density, has been utilized for this purpose. This method produces a hierarchy of solutions giving segmentation results from a coarse to a fine level. Automatic edge detection can be performed using these solutions that are at different degrees of coarseness. The procedure has been made more efficient by utilizing a new similarity parameter from the concepts of neuro-fuzzy clustering.

关键词： Annealing Biomedical imaging Image segmentation Brain modeling Clustering algorithms Image edge detection Lagrangian functions computer vision Laboratories Stochastic processes

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Reducing the complexity of geometric selective disassembly

Reducing the complexity of geometric selective disassembly

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.A. Garcia A. Larre B. Lopez A. Oller Department of Computer Science and Mathematics Intelligent Robotics and Computer Vision Group Tarragona Spain Department of Electrical Electronic and Automation Engineering Rovira i Virgili University Tarragona Spain

This paper presents an efficient technique for determining a low-cost disassembly sequence suitable to extract a subset of s components from an assembly containing n components, e of which are exterior (e/spl Lt/n). The most efficient solution to this so-called geometric selective disassembly problem is the wave propagation algorithm, which is reported to have a computational complexity of O(sn/sup 2/). Instead, the complexity of the proposed algorithm is O(enlogn) when s/spl Lt/n, and O(sn) when s/spl sime/n. Experimental results with synthetic 3D assemblies are presented.

关键词： Assembly Intelligent robots robotics and automation Computational complexity Recycling Fasteners Polynomials Costs Robot vision systems computer vision

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Developing a real-time, robust, video tracker

Developing a real-time, robust, video tracker

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OCEANS

作者： K. Plakas E. Trucco Computer Vision Group and Ocean Systems Laboratory Department of Computing and Electrical Engineering Heriot-Watt University UK

Tracking targets robustly in video sequences is a basic component for several image processing applications, including mosaicing, stabilisation and shape/structure reconstruction from motion. The authors present recent developments of their work on a real-time video tracker, capable of tracking 30-50 feature points at 10-20 frames per second (depending on parameter settings) on a standard PC platform. Examples of tracking results with real mission sequences as well as laboratory tank data are shown. They also illustrate some applications where their real-time tracker has been successfully embedded in larger systems.

关键词： Robustness Feature extraction Target tracking computer vision Underwater tracking Laboratories Application software Oceans Shape Image reconstruction

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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...

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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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FSED-feature selective edge detection

FSED-feature selective edge detection

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International Conference on Pattern Recognition

作者： M. Borga H. Malmgren H. Knutsson Computer Vision Laboratory Department of Electrical Engineering Linkoping University Linkoping Sweden Department of Philosophy University of Goteborg Goteborg Sweden

ISBN: (纸本)0769507506

We present a method that finds edges between certain image features, e.g. gray-levels, and disregards edges between other features. The method uses a channel representation of the features and performs normalized convolution using the channel values as certainties. This means that areas with certain features can be disregarded by the edge filter. The method provides an important tool for finding tissue specific edges in medical images, as demonstrated by an MR-image example.

关键词： computer vision Image edge detection Gray-scale Filters Laboratories Biomedical imaging Computed tomography Magnetic resonance imaging Maximum likelihood detection Convolution

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