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International Joint Conference on Neural Networks (IJCNN)

作者： D.A. Miller S.W. Sucker Computer Vision and Robotics Laboratory Research Center of Intelligent Machines McGill University Montreal Canada Comput. Vision & Robotics Lab. McGill Univ. Montreal Que. Canada

The authors ask what is the complexity of computing equilibria for physically realizable analog networks like those of J.J. Hopfield (1984) and T.J. Sejnowski (1981) with arbitrary connectivity. It is shown that, if the amplifiers are piecewise-linear, then such networks are instances of a game-theoretic model known as polymatrix games. Equilibria for the latter may be computed by vertex pivoting algorithms similar to the simplex method for linear programming, which are in practice of low order polynomial complexity. These algorithms appear to be the only ones both guaranteed to work and which are polynomial in practice. These results suggest that networks with few nonstable equilibria would be computationally attractive.< >

关键词： Analog computers computer networks Polynomials Biology computing NP-hard problem computer vision Physics computing Piecewise linear techniques intelligent robots Robot vision systems

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Curvature consistency improves local shading analysis

Curvature consistency improves local shading analysis

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International Conference on Pattern Recognition

作者： F.P. Ferrie J. Lagarde Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

The authors describe how a surface reconstruction algorithm based on minimizing the variation of surface curvature can be used to stabilize and correct the results of local shading analysis. The approach is viewpoint independent and applicable to any process that can provide estimates of local surface orientation. The assumptions used in formulating the minimization are derived from standard differential geometry. When applied as a second stage of processing after local shading analysis, the algorithm can recover a close approximation of the true surface orientation under realistic assumptions about image noise. Results are presented that show the performance of the algorithm on synthetic and real data. In particular, they demonstrate how this form of reconstruction can compensate for some of the shape distortion incurred in local shading analysis.< >

关键词： Surface reconstruction Shape Geometry intelligent robots Image reconstruction Image analysis Noise shaping Minimization methods Robustness computer vision

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From uncertainty to visual exploration

From uncertainty to visual exploration

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International Conference on computer vision (ICCV)

作者： P. Whaite F.P. Ferrie Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

The question posed is what can be inferred from ambiguity in processes of visual interpretation? Much emphasis is naturally placed on the form of constraints used to minimize ambiguity, particularly as they pertain to such issues as perceptual acceptability. The authors feel that it is perhaps more instructive to consider what can be learned from situations where different interpretations of data are possible, i.e., the ambiguity of perception. This immediately raises a number of issues regarding the characterization of ambiguity, communicating it to other visual processes, and using ambiguity to further refine visual interpretation. The context in which the authors discuss these problems is the interpretation of scene geometry in the form of volumetric models. They describe a representation for ambiguity in terms of an ellipsoid of confidence in which there is a finite probability that the true parameters of the model can be found.< >

关键词： Uncertainty Layout Ellipsoids intelligent robots Solid modeling Measurement errors computer vision Robot vision systems Laboratories Machine intelligence

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Extraction of line drawing features for object recognition

Extraction of line drawing features for object recognition

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International Conference on Pattern Recognition

作者： R. Bergevin M.D. Levine Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

The authors describe the geometrical criteria which define viewpoint-invariant features to be extracted from 2-D line drawings of 3-D objects. They also discuss the extraction of these features, which forms the initial stage of a generic object recognition system, the Primal Access Recognition of Visual Objects (PARVO) system. In this system, part-based qualitative descriptions are built and matched to coarse 3-D object models for recognition. The segmentation and labeling of the constituent parts of an object rely on the 3-D properties inferred from the presence of its 2-D features. The original motivation for PARVO its recognition by components, a theory of human image understanding from the field of psychology. Definitions of the geometrical criteria defining the viewpoint-invariant features are introduced. Examples of results obtained by applying these criteria to a typical line drawing are shown.< >

关键词： Object recognition computer vision Humans Feature extraction intelligent robots Image segmentation Labeling Psychology Robot vision systems Laboratories

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A DATABASE DESIGN FOR THE RUNTIME ENVIRONMENT OF A ROBOTIC WORKCELL

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robotics AND computer-INTEGRATED MANUFACTURING 1989年第1期5卷 21-31页

作者： FREEDMAN, P MICHAUD, C CARAYANNIS, G MALOWANY, A Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University Montréal Québec Canada

intelligent robotic workcell activities have come to require a database framework for arranging, storing and accessing information in real-time about the workcell environment in a standard way. After a brief introduction to the theory of databases (DB), we examine the general topic of robotic workcells, identify characteristics typical of robotic applications, and then present a survey of DB-related work in the robotics domain. We then construct a set of design constraints based on our analysis of robotic applications, and describe a suitable software architecture. The paper concludes with a discussion of experience gained with two generations of DB implementations.

关键词： Database Systems

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AN INTEGRATED PROGRAMMING ENVIRONMENT FOR A GENERIC ROBOTIC WORKCELL

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JOURNAL OF ROBOTIC SYSTEMS 1989年第2期6卷 149-173页

作者： CARAYANNIS, G FREEDMAN, P MALOWANY, A Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University Montreal Quebec Canada

AbstractThe complexity of modern robotic workcells, consisting of many cooperating elements (e.g., robots, sensing systems) makes programming applications enormously difficult. Even when the application can be easily decomposed into workcelll operations, the tight coupling among these operations due to constraints on precedence and resource sharing makes it difficult to identify and take advantage of possible concurrency. Since robotic workcells are typically configured to repetitively perform an application, we seek to minimize the ‘cycle’ time required, by optimizing the order in which operations take place. Eventually, a sequential program must be written for each workcell element, and they must then execute concurrently. Commercial robot languages and systems provide neither the necessary tools for programming such a distributed collection of elements nor a mechanism for inter‐element communication. In this article the authors propose a two‐part solution to this workcell programming problem: SAGE/WRAP. A graphics interface is provided to the user in order to define the application. Then, from the user's input, SAGE builds a Petri Net description of the workcell application; this is used to obtain a time‐optimal sequence of operations for each workcell element. The time‐optimal sequence then becomes the basis of the runtime program that performs the application. This program is interpreted and executed by the hierarchical workcell runtime environment called WRAP. An example is provided to illustrate t

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Aggregation of boundary points into solid models

Aggregation of boundary points into solid models

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Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Aubry, Stéphane Hayward, Vincent Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University MontréalQC Canada

ISBN: (纸本)9780819400383

We consider the problem of aggregating the information provided by sensors such as range finders and its applications to scene modelling. This information consists of collections of three-dimensional points which form a discrete subspace of the objects-to-free-space boundaries within the world to be modelled. The ultimate goal is to obtain a valid surface model which can in turn be transformed into an efficient volumetric representation for solid interference detection algorithms. We first relate our work to that of other researchers, and we then show that surface connectivity is a non-trivial but essential element of a valid representation. To that end, we introduce a formal definition for model validity which we use to guide the process of aggregating the different views and we provide a proof of its correctness under stated assumptions. We eventually suggest heuristic methods for extending our approach when the strict validity conditions do not suffice to construct a perceptually consistent model. Finally, we quickly introduce the topological problems posed by objects non-homeomorphic to spheres, such as multi-holed tori. The methods we develop do not depend on the physical nature of the sensing technique. For example, our results can also be used from data obtained by stereo analysis and to some extent by haptic sensing.

关键词： Heuristic methods

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ELsim: a timing simulator for digital CMOS integrated circuits

ELsim: a timing simulator for digital CMOS integrated circui...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： M.E. Malowany A.S. Malowany Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines Montreal QUE Canada

The basic operating principles of ELsim, a timing simulator for digital CMOS circuits, are discussed. ELsim uses the electrical-logic, or ELogic, method where time is solved for rather than voltage and an event-driven, selective trace approach is used which exploits circuit latency to improve simulation speed. Voltage levels at the circuit nodes are descretized, and the size of the voltage steps can be increased to trade accuracy for simulation speed. Results of a comparison of the ELsim simulator performance to that of SPICE for sample CMOS circuits are featured. In general, the delay times and waveforms calculated with ELsim show satisfactorily agreement with those obtained using SPICE.< >

关键词： Timing Circuit simulation CMOS integrated circuits Computational modeling Voltage SPICE computer simulation CMOS digital integrated circuits Capacitors Circuit testing

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Generic object recognition: building coarse 3D descriptions from line drawings

Generic object recognition: building coarse 3D descriptions ...

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Workshop on Interpretation of 3D Scenes

作者： R. Bergevin M.D. Levine Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

PARVO, a computer vision system that addresses the problems of fast and generic recognition of unexpected 3D objects from single 2D views, is introduced. Recently, RBC (recognition by components), a new human image understanding theory, has been proposed on the basis of the results of various psychological studies. However, no systematic computational evaluation of its many aspects has been reported yet. The object recognition system the authors have built is a first step toward this goal, since its design respects and makes explicit the main assumptions of the proposed theory. It analyzes single-view 2D line drawings of 3D objects typical of the ones used in human image understanding studies. The main issues related to generic object recognition are discussed, original algorithms and techniques specific to the author's systems are described, and results of the different processing stages of the system are presented.< >

关键词： Object recognition computer vision Humans Psychology intelligent robots Robot vision systems Laboratories intelligent structures Machine intelligence Visual system

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Building hierarchical solid models from sensor data

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Aubry V. Hayward Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

ISBN: (纸本)0818619384

The authors consider the problem of aggregating the geometrical information provided by sensors such as range finders, and its applications to scene modeling. The information consists of collections of three-dimensional surface points that form a discrete subspace of the objects-to-free-space boundaries within the world to be modeled. The ultimate goal is to obtain a valid surface model which can in turn be transformed into an efficient volumetric representation for solid-interference-detection algorithms. This representation should achieve search efficiency, compactness, and parallelism. The authors first introduce such a volumetric representation which uses a tetrahedrization of space. Then they show that surface connectivity is a nontrivial and essential element of a valid representation. To that end, they introduce a formal graph-theoretic definition for model validity which they use to guide the process of aggregating the different views. Finally, the topological problems posed by objects nonhomeomorphic to spheres, such as multiholed tori, are introduced.< >

关键词： Solid modeling Robot kinematics Orbital robotics intelligent sensors intelligent robots Interference Path planning Manipulators Detectors computer vision

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