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Conference on computer vision and Pattern Recognition (CVPR)

作者： C.-F. Westin C.-J. Westelius H. Knutsson G. Granlund Computer Vision Laboratory Department of Electrical Engineering Linkoping University Linkoping Sweden Brigham and Womens Hospital Harvard Medical School Surgical Planning Laboratory Boston MA USA

Focus of attention mechanisms for robot vision are discussed. A new method for neglecting low level filter responses from already modelled structures is presented. The method is based on a filtering technique termed normalized convolution. In one experiment, the robot is continuously moving its arm in the scene while tracking other objects. It is shown how the arm can be made "invisible" so that only the moving object of interest is detected. This makes tracking of objects much simpler. In another experiment, the attention of the system is shifted between objects by simply cancelling the mask of the object to be attended to. With this strategy the low level processes do not need to know the difference between a new object entering the scene and a mask being cancelled, and thus a complex communication structure between high and low levels is avoided.

关键词： Robot control Robot vision systems Layout Laboratories Focusing Robot sensing systems Feature extraction Context modeling Computational modeling Filtering

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A Polarization Contrast Retina Using Patterned Iodine-doped PVA Film

A Polarization Contrast Retina Using Patterned Iodine-doped ...

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European Conference on Solid-State Circuits (ESSCIRC)

作者： Zaven Kalayjian Andreas G Andreou Larry Wolff Norman Sheppard Sensory Communication Laboratory Department of Electrical and Coputer Engineering Johns Hopkins University Baltimore MD USA Computer Vision Laboratory Department of Computer Science Johns Hopkins University Baltimore MD USA Department of Biomedical Engineering Johns Hopkins University Baltimore MD USA

Many insect species and some animals can sense light polarization in their environment, but humans are blind to this property of light. In this paper, we present a one-dimensional polarization imager as an example of a polarization retina, and we describe recent advances in developing a high resolution, integrated, two dimensional polarization retina. We discuss how iodine-doped poly(vinyl alcohol) linear polarizers can be processed using standard microfabrication lithographic techniques to delineate features with resolution comparable to pixel sizes of standard imagers.

关键词： Retina Optical polarization Circuits Filters Photodiodes Humans Image resolution computer vision Cameras Analog computers

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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SYSTEMS AND computerS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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Stability analysis of a robust PD control law for robot manipulators

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Journal of Field robotics 1996年第6期13卷

作者： T. C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 Intel Corporation 2200 Mission College Blvd. Santa Clara CA 95052

The purpose of this article is to examine the stability of a robust and decentralized PD control law for robot manipulator control. The control law, which was developed by the authors, has been shown experimentally to be extremely simple to implement and highly accurate for position and force tracking in the presence of robot model uncertainty and payload variation. However, stability analysis has been difficult due to the nonlinearity of robot dynamics and the use of time-delayed measurements of joint torques and joint accelerations in the control law. A rigorous stability analysis is presented in this article using Popov's hyperstability theory. A sufficient condition for global stability is obtained that supports previous theoretical and experimental results. © 1996 John Wiley & Sons, Inc.

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EXPERIMENTS IN ACTIVE vision WITH REAL AND VIRTUAL ROBOT HEADS

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APPLIED INTELLIGENCE 1995年第3期5卷 237-250页

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee 37996-2100 Knoxville TN

In the emerging paradigm of animate vision, the visual processes are not thought of as being independent of cognitive or motor processing, but as an integrated system within the context of visual behavior. Intimate coupling of sensory and motor systems have found to improve significantly the performance of behavior based vision systems. In order to study active vision systems one requires sensory-motor systems. Designing, building, and operating such a test bed is a challenging task. In this paper we describe the status of on-going work in developing a sensory-motor robotic system, R2H, with ten degrees of freedoms (DOF) for research in active vision. To complement the R2H system a Graphical Simulation and Animation (GSA) environment is also 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. GSA system aids 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, it's sensors and it's workspace. With the aid of the GSA environment a Depth from Focus (DFF), Depth from Vergence, and Depth from Stereo modules are implemented and tested. The power and usefulness of the GSA system as a research tool is demonstrated by acquiring and analyzing images in the real and virtual worlds using the same software implemented and tested in the virtual world.

关键词： ACTIVE vision ROBOT HEADS ROBOT SIMULATION DEPTH EXTRACTION

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Visibility analysis on a massively data-parallel computer

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Concurrency and Computation: Practice and Experience 1996年第6期8卷

作者： Daniel Germain Denis Laurendeau Guy Vézina Computer Vision and Systems Laboratory Electrical Engineering Department Université Laval Ste-Foy Québec Canada G1K 7P4 Command and Control and Information Sytems Division Defence Research Establishment Valcartier PO Box 8800 Courcelette Québec Canada G0A 1R0

Visibility analysis algorithms use digital elevation models (DEMs), which represent terrain topography, to determine visibility at each point on the terrain from a given location in space. This analysis can be computationally very demanding, particularly when manipulating high resolution DEMs accurately at interactive response rates. Massively data-parallel computers offer high computing capabilities and are very well-suited to handling and processing large regular spatial data structures. In the paper, the authors present a new scanline-based data-parallel algorithm for visibility analysis. Results from an implementation onto a MasPar massively data-parallel SIMD computer are also presented.

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RESIDUAL UNCERTAINTY IN 3-DIMENSIONAL RECONSTRUCTION USING 2-PLANES CALIBRATION AND STEREO METHODS

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PATTERN RECOGNITION 1995年第7期28卷 1073-1082页

作者： THAYER, S TRIVEDI, M Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory The University of Tennessee Knoxville TN 37996-2100 U.S.A.

A necessary goal in the calibration of any instrument is an indication of how well the particular device performs. In the specific case where a camera system is used in the process of three-dimensional reconstruction or stereopsis, geometric measures of the accuracy, precision, and repeatability of 3-D point measurements give a quantitative evaluation of the success of that algorithm. This paper presents an experimental performance analysis of a traditional calibration algorithm as applied to the problem of three-dimensional vision. The study begins with an analysis of the algorithm in a single camera or monocular system. Monocular analysis concludes with a derivation of error boundaries under different. geometric constraints. Showing how this residual error propagates from the component monocular systems into a three-dimensional reconstruction, a binocular analysis derives the desired performance monitors. The paper concludes with a geometric interpretation of the results.

关键词： STEREOPSIS ACCURACY PRECISION REPEATABILITY MONOCULAR BINOCULAR 2-PLANES CALIBRATION

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AUTOMATIC TARGET SCORING SYSTEM USING MACHINE vision

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MACHINE vision AND APPLICATIONS 1995年第1期8卷 20-30页

作者： MOBASSERI, BG Computer Vision Laboratory Department of Electrical and Computer Engineering Villanova University Villanova USA

This paper reports on the development of a machine vision system for assessing targeting accuracy of ballistic, projectile-firing, weapon systems. The machine vision system developed here can monitor the target continuously, report precise quantitative targeting information, and simultaneously provide a color-coded display of impacts. The only other automated target scoring system on the market today is based on the analysis of acoustic signatures of projectiles using a heavily instrumented target. The proposed vision-based technique, in contrast, is inherently passive, requiring little or no modification of the existing set up.

关键词： TARGET SCORING MACHINE vision BALLISTIC PROJECTILES CIRCLE DETECTION IMPACT DETECTION MOTION COMPENSATION OVERLAPPING IMPACTS

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CIRCULAR-MELLIN FEATURES FOR TEXTURE SEGMENTATION

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IEEE TRANSACTIONS ON IMAGE PROCESSING 1995年第12期4卷 1629-1640页

作者： RAVICHANDRAN, G TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Dept. University of Tennessee Knoxville TN 37996-2100 USA

Texture is an important cue in region-based segmentation of images. In this paper, we provide insight into the development of a new set of distortion-invariant texture operators. These ''circular-Mellin'' operators are invariant to both scale and orientation of the target and represent the spectral decomposition of the image scene in the polar-log coordinate system. Coupled with the unique shift invariance property of the correlator architecture, we show that these circular-Mellin operators can be used for rotation-and scale-invariant feature extraction. We note that while these feature extractors have a functional form that is similar to the Gabor operators, they have distortion-invariant characteristics unlike the Gabor functions that make them more suitable for texture segmentation. A detailed analytical description of these operators and segmentation results to highlight their salient properties are presented.

关键词： Feature extraction Correlation Image segmentation Gabor filters Maximum likelihood detection Correlators Nonlinear filters

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