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Conference on computer vision and Pattern Recognition (CVPR)

作者： A.A. Argyros K.E. Bekris S.C. Orphanoudakis Computer Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas FORTH Crete Greece

ISBN: (纸本)0769512720

In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panoramic camera. As the robot departs from its initial position, it tracks characteristic features of the environment (corners). As soon as homing is activated, the robot selects intermediate target positions on the original path. These intermediate positions (IPs) are then visited sequentially, until the home position is reached. For the robot to move between two consecutive IPs, it is only required to establish correspondence among at least three corners. This correspondence is obtained through a feature tracking mechanism. The proposed homing scheme is based on the extraction of very low-level sensory information, namely the bearing angles of corners, and has been implemented on a robotic platform. Experimental results show that the proposed scheme achieves homing with a remarkable accuracy, which is not affected by the distance traveled by the robot.

关键词： Robot kinematics Robot sensing systems Insects Robot vision systems Navigation Orbital robotics computer vision Laboratories computer science Information resources

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A televiewing system for multiple simultaneous customized perspectives and resolutions

A televiewing system for multiple simultaneous customized pe...

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International Conference on Intelligent Transportation

作者： B. Hall Kohsia Huang M. Trivedi Computer Vision and Robotics Research Laboratory CVRR University of California La Jolla CA USA

Recent innovations in real-time machine vision, distributed computing, software architectures and high-speed communication are expanding the available technology for intelligent system development. These technologies allow the realization of intelligent systems that provide the capabilities for a user to experience events from remote locations in an interactive way. In this paper, we describe research aimed at the realization of a powerful televiewing system applied to the traffic incident detection and monitoring needs of today's highways. Sensor clusters utilizing both rectilinear and omni-directional cameras provide an interactive, real-time, multi-resolution televiewing interface to emergency response crews. Ultimately, this system will have a direct impact on reducing incident-related highway congestion by improving the quality of information to which emergency personnel have access.

关键词： Intelligent systems Machine intelligence Intelligent sensors Road transportation Technological innovation Real time systems Machine vision Distributed computing Software architecture Remote monitoring

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Articulated body posture estimation from multi-camera voxel data

Articulated body posture estimation from multi-camera voxel ...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： I. Mikic M. Trivedi E. Hunter P. Cosman Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California La Jolla CA USA

ISBN: (纸本)0769512720

We present a framework for articulated body model acquisition and tracking from voxel data. A 3D voxel reconstruction of the person's body is computed from silhouettes extracted from four cameras. The model acquisition process is fully automated. In the first frame, body parts are located sequentially. The head is located first, since its shape and size are unique and stable. Other parts are found by sequential template growing and fitting. This initial estimate of body part locations, sizes and orientations is then used as a measurement for the extended Kalman filter which ensures a valid articulated body model. The same filter, with a slightly modified state and state transition matrix, is then used for tracking. The performance of the system has been evaluated on several video sequences with promising results.

关键词： Cameras Image reconstruction Biological system modeling Data mining computer vision Robot vision systems Head Shape Filters Image segmentation

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Software mode changes for continuous motion tracking 1st

Software mode changes for continuous motion tracking

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1st International Workshop on Self-Adaptive Software, IWSAS 2000

作者： Karuppiah, Deepak Deegan, Patrick Araujo, Elizeth Yang, Yunlei Holness, Gary Zhu, Zhigang Lerner, Barbara Grupen, Roderic Riseman, Edward Dept. of Computer Science Computer Vision Research Laboratory University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Laboratory for Perceptual Robotics University of Massachusetts AmherstMA01003 United States Dept. of Computer Science Lab. for Advanced Software Eng. Research University of Massachusetts AmherstMA01003 United States

ISBN: (纸本)3540416552

Robot control in nonlinear and nonstationary run-time environments presents challenges to traditional software methodologies. In particular, robot systems in "open" domains can only be modeled probabilistically and must rely on run-time feedback to detect whether hardware/software configurations are adequate. Modifications must be effected while guaranteeing critical performance properties. Moreover, in multi-robot systems, there are typically many ways in which to compensate for inadequate performance. The computational complexity of high dimensional sensorimotor systems prohibits the use of many traditional centralized methodologies. We present an application in which a redundant sensor array, distributed spatially over an office-like environment can be used to track and localize a human being while reacting at run-time to various kinds of faults, including: hardware failure, inadequate sensor geometries, occlusion, and bandwidth limitations. Responding at run-time requires a combination of knowledge regarding the physical sensorimotor device, its use in coordinated sensing operations, and high- level process descriptions. We present a distributed control architecture in which run-time behavior is both preanalyzed and recovered empirically to inform local scheduling agents that commit resources autonomously subject to process control specifications. Preliminary examples of system performance are presented from the UMass Self-Adaptive Software (SAS) platform. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Process control

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Range-space approach for generalized multiple baseline stereo and direct virtual view synthesis

Range-space approach for generalized multiple baseline stere...

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IEEE Workshop on Stereo and Multi-Baseline vision (SMBV)

作者： K.C. Ng M. Trivedi H. Ishiguro AST La Jolla Laboratory STMicroelectronics Inc. San Diego CA USA Computer Vision & Robotics Research Laboratory University of California San Diego CA USA Department of Computer and Communication Sciences Wakayama University Japan

ISBN: (纸本)0769513271

In this paper a new "range-space" approach, for rendering visual models using a network of multiple omnidirectional vision sensors (ODVS) is presented. This integrated approach allows for simultaneous extraction of 3-D range as well as visual models. The approach requires three distinct steps of analyzing multiple ODVS video input streams: 1) Search, 2) Match, and 3) Render. At the output, a user-specified view is rendered. This three-step process does not require 3D model of the scene to be provided.

关键词： Stereo vision Cameras Layout Pixel computer vision Robustness Legged locomotion Robot sensing systems Robot vision systems computer networks

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Geodesic active contours and level sets for the detection and tracking of moving objects (vol 22, pg 279, 2000)

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2000年第4期22卷 415-415页

作者： Paragios, N Deriche, R Department of Imaging and Visualization Siemens AG Corporate Research and Development Princeton NJ USA Computer Vision and Robotics Group (RobotVis) I.N.R.I.A. Sophia Antipolis France

Abstract—This paper presents a new variational framework for detecting and tracking multiple moving objects in image sequences. Motion detection is performed using a statistical framework for which the observed interframe difference density function is approximated using a mixture model. This model is composed of two components, namely, the static (background) and the mobile (moving objects) one. Both components are zero-mean and obey Laplacian or Gaussian law. This statistical framework is used to provide the motion detection boundaries. Additionally, the original frame is used to provide the moving object boundaries. Then, the detection and the tracking problem are addressed in a common framework that employs a geodesic active contour objective function. This function is minimized using a gradient descent method, where a flow deforms the initial curve towards the minimum of the objective function, under the influence of internal and external image dependent forces. Using the level set formulation scheme, complex curves can be detected and tracked while topological changes for the evolving curves are naturally managed. To reduce the computational cost required by a direct implementation of the level set formulation scheme, a new approach named Hermes is proposed. Hermes exploits aspects from the well-known front propagation algorithms (Narrow Band, Fast Marching) and compares favorably to them. Very promising experimental results are provided using real video sequences.

关键词： Front Propagation Geodesic Active Contours Level Set Theory Motion Detection Tracking

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Activity monitoring and summarization for an intelligent meeting room

Activity monitoring and summarization for an intelligent mee...

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Workshop on Human Motion

作者： I. Mikic K. Huang M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego USA

Intelligent meeting rooms should support efficient and effective interactions among their occupants. In this paper, we present our efforts toward building intelligent environments using a multimodal sensor network of static cameras, active (pan/tilt/zoom) cameras and microphone arrays. Active cameras are used to capture details associated with interesting events. The goal is not only to make a system that supports multi-person interactions in the environment in real time, but also to have the system remember the past, enabling reviews of past events in an intuitive and efficient manner. In this paper, we present the system specifications and major components, integration framework, active network control procedures and experimental studies involving multi-person interactions in an intelligent meeting room environment.

关键词： Monitoring Intelligent sensors Intelligent networks Smart cameras Microphone arrays Sensor arrays Intelligent structures Multimodal sensors Real time systems Control systems

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Distributed video networks for incident detection and management

Distributed video networks for incident detection and manage...

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International Conference on Intelligent Transportation

作者： M.M. Trivedi I. Mikic G. Kogut Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

We describe a novel architecture for developing distributed video networks for incident detection and management. The networks utilize both rectilinear and omnidirectional cameras. It is recognized that robust and reliable segmentation of automobiles and shadows is critical in our application. We describe new segmentation procedure and present experimental results to support the basic feasibility and utility of the algorithms.

关键词： Delay estimation Layout Robustness Image segmentation Telecommunication traffic Sensor fusion computerized monitoring Remote monitoring Sensor arrays computer network 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 Overview on Behaviour-Based Methods for AUV Control

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IFAC Proceedings Volumes 2000年第21期33卷 141-146页

作者： M. Carreras J. Batlle P. Ridao G.N. Roberts Computer Vision and Robotics Group University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP20 5XR UK

Traditionally, deliberative reasoning methods based on a world model have been used to guide Autonomous Vehicles. Nevertheless, due to serious problems when dealing with complex and changing environments the alternative approach of reactive architectures appeared, directly coupling perception and action without any world representation. This paper describes the characteristics and variants of reactive architectures as well as four of the most suitable ones to guide Autonomous Underwater Vehicles: Schema-based approach, Subsumption, Process Description Language and Action Selection Dynamics. Each architecture is described and evaluated using an underwater simulator with an AUV model.

关键词： Autonomous Vehicles Artificial Intelligence Control Systems Marine Systems Robot navigation Vehicle Simulation

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