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检索条件"机构=Computer Vision and Robotics Laboratory Department of Electrical Engineering"

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Multi-primitive hierarchical (MPH) stereo system

Multi-primitive hierarchical (MPH) stereo system

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： S.B. Marapane M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >

关键词： Stereo vision computer vision Laboratories Robustness Computational modeling Performance analysis Layout Contracts Algorithm design and analysis Robot vision systems

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Robust control of a vibrating link robot manipulator 24

Robust control of a vibrating link robot manipulator

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24th Southeastern Symposium on System Theory and 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design, SSST/CSA 1992

作者： Shukla, Deepak Dawson, D.M. Paul, F.W. Department of Mechanical Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States Department of Electrical and Computer Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States

ISBN: (纸本)0818626658

This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics. © 1992 IEEE.

关键词： Robust control

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A VLSI implementation of a light sensor with imbedded focal plane processing capabilities

A VLSI implementation of a light sensor with imbedded focal ...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Parent, F. Tremblay, M. Laurendeau, D. Poussart, D. Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University Sainte-FoyQCG1K 7P4 Canada

ISBN: (纸本)0780307372

The complexity of information extraction requires the development of efficient and dedicated hardware systems designed to operate in harmony with robot vision and automation. This paper describes a system which combines optical sensing with integrated focal-plane processing capabilities and integrated image post-processing. It is capable of automatic edge tracking and returns lists of connected pixels. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Focusing

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A mean field solution to anisotropic edge detection of remotely sensed images 12

A mean field solution to anisotropic edge detection of remot...

引用

12th Annual International Geoscience and Remote Sensing Symposium, IGARSS 1992

作者： Acton, Scott T. Crawford, Melba M. Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States Center for Space Research Department of Mechanical Engineering University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)0780301382

A new edge detection technique based on anisotropic diffusion is implemented using mean field theory. This optimization approach to edge detection provides localized, thinned, and linked edges that are useful for image segmentation and edge-based image registrationb algorithms. The method is well-suited for remote sensing applications that depend on accurate boundary detection, multiple region delineation, and high speed parallel implementation. © IEEE 1992.

关键词： Edge detection

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Simulation and graphical interface for programming and visualization of sensor-based robot operation

Simulation and graphical interface for programming and visua...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.X. Chen M.M. Trivedi C.R. Bidlack Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >

关键词： Robot programming Visualization Robot sensing systems robotics and automation Computational modeling Robot vision systems Automatic control Animation computer simulation Software safety

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A framework for anisotropic adaptive filtering and analysis of image sequences and volumes

A framework for anisotropic adaptive filtering and analysis ...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： H. Knutsson L. Haglund H. Barman G.H. Granlund Department of Electrical Engineering Computer Vision Laboratory Linköping University Linkoping Sweden

A framework for analysis and adaptive filtering of time sequences and volume is presented. Time sequences and volumes constitute three-dimensional signal spaces (two spatial dimensions and one time dimension or three spatial dimensions). The signal is convolved with a set of 3D quadrature filters. The filter function is separable in orientation and radius and the uncertainty product of the filters exceeds that of Gabor filters by only 15%. The output from the filters is combined to form a 3D tensor field giving a local description of the neighborhood. To increase robustness the field is convolved with a 3D smoothing filter. This field is used to construct a filter adapting to the local situation. Results showing precise and robust performance using both synthetic and real data are presented.< >

关键词： Anisotropic magnetoresistance Adaptive filters Image analysis Image sequence analysis Image sequences Gabor filters Finite impulse response filter Tensile stress Robustness Frequency

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Multi-resolution surface modeling from multiple range views

Multi-resolution surface modeling from multiple range views

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Conference on computer vision and Pattern Recognition (CVPR)

作者： M. Soucy D. Laurendeau Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

A multiresolution surface modeling technique is presented. Several registered range views obtained from different viewpoints are first integrated into a nonredundant surface triangulation. The integration technique is based on the reparameterization of the canonic subsets of the Venn diagram of the set of views. The resulting triangulation is then input to a sequential optimization process that computes different levels of resolution of the surfaces of interest.< >

关键词： Approximation error computer vision Digital systems Laboratories Geometry Computational modeling Design optimization Performance evaluation Labeling Testing

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A multi-resolution surface model for compact representation of range images

A multi-resolution surface model for compact representation ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Soucy A. Croteau D. Laurendeau Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

The authors present a surface triangulation technique for surface description at different levels of resolution in a range image. A step discontinuity constrained 2-1/2-D triangulation of all points is first computed. A sequential optimization process then removes, at each iteration. the point that minimizes the local retriangulation approximation error caused by its removal. The iterative process can stop at any time to obtain a desired level of approximation error.< >

关键词： Surface fitting Layout Engine cylinders Image segmentation computer vision Digital systems Laboratories Image resolution Approximation error Robots

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Surface modeling from dynamic integration of multiple range views

Surface modeling from dynamic integration of multiple range ...

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International Conference on Pattern Recognition

作者： M. Soucy D. Laurendeau Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

Presents a dynamic approach for the integration of multiple registered range views. A nonredundant surface model for N views is computed from the model built from N-1 views by reprocessing only the surface segments seen in the Nth view. The integration technique is based on the reparametrization of the canonic subsets of the Venn diagram of the range views. The resulting surface model consists in a triangulation defined in an object-centered reference frame.< >

关键词： Testing Geometry Solid modeling Distributed computing Hardware Performance evaluation Labeling

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Estimating the 3D rigid transformation between two range views of a complex object

Estimating the 3D rigid transformation between two range vie...

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International Conference on Pattern Recognition

作者： R. Bergevin D. Laurendeau D. Poussart Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

Presents a method to compute the inter-frame transformation between two range image views of complex multi-part objects. No exact feature matching is attempted and no initial approximate transformation is provided. The method is naturally decomposed into two stages of initial estimation and final refinement of the transformation. A hierarchical triangulation-based surface representation provides an efficient way to select the control points at which the alignment of the two surfaces is to be evaluated. This representation also permits the selection of a manageable number of initial transformations among which at least one is to be in the parametric neighborhood of the actual transformation. Experimental results show that the computed transformation between two views of a complex multi-part object may provide angles of rotation within a fraction of a degree of the actual ones.< >

关键词： computer vision Layout Motion estimation Shape Digital systems Laboratories Cameras Object recognition Stereo vision Noise reduction

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