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检索条件"机构=Computer Vision and Robotics Research Laboratory"

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A novel interactivity environment for integrated intelligent transportation and telematic systems

A novel interactivity environment for integrated intelligent...

引用

International Conference on Intelligent Transportation

作者： T.B. Hall M.A. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

Advances in intelligent transportation are rapidly sensing and connecting both highways and vehicles. This recent availability of high-speed communication and large quantities of information are rapidly changing the way we perceive transportation. In order to develop technologies and applications that are practical in this intelligent environment, it is important to consider specific ways to best use this infrastructure effectively. This paper focuses on the development of and experiments with a visualization environment that presents an interactive, immersive, and context-preserving display of outdoor information. The developed visualization integrates a variety of types of information about a section of interstate such as aerial photographs, maps, and live outdoor videos into a single interactive environment. Additionally, a wireless mobile testbed is presented that allows the undertaking of novel interactivity experiments among mobile participants without requiring a fully instrumented vehicle. These systems allow effective experimentation with and integration between highway and vehicle based real-world intelligent transportation systems.

关键词： Intelligent transportation systems Telematics Intelligent vehicles Road transportation Road vehicles Visualization Joining processes Displays Videos Testing

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Distributed interactive video arrays for event based analysis of incidents

Distributed interactive video arrays for event based analysi...

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International Conference on Intelligent Transportation

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

The distributed interactive video array (DIVA) system is developed to provide a large-scale, redundant cluster of video streams to observe a remote scene and to supply automatic focus-of-attention with event-driven servoing to capture desired events at appropriate resolutions and perspectives. Installing multiple sensors introduces several new research issues related to the system design, including handoff schemes for passing tracked objects between sensors and clusters, methods for determining the "best view" given the context of the traffic scene, and sensor fusion algorithms to best employ the strengths of a given sensor or sensor modality. This paper describes our research focused on the development of DIVA system for traffic and incident monitoring. The paper describes the overall architecture of the DIVA system. Algorithms for vehicle and platoon tracking using multiple cameras, and experimental results using novel distributed video networks deployed on the campus and the interstate I-5.

关键词： Sensor fusion Sensor systems Layout Large-scale systems Streaming media Clustering algorithms Telecommunication traffic Monitoring Vehicles Cameras

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Maintaining the identity of multiple vehicles as they travel through a video network

Maintaining the identity of multiple vehicles as they travel...

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IEEE Workshop on Multi-Object Tracking

作者： G.T. Kogut M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

ISBN: (纸本)0769511716

Large vision infrastructures have been installed, or are under construction in many major metropolitan areas. These networks of cameras offer enormous volumes of data from large areas. However, most work in ITS computer vision is constricted to the use of either single cameras, or small numbers of cameras. There is an enormous amount of information available from the fusion of data from multiple cameras that is not available from any single sensor. This paper presents an algorithm that provides an example of such data fusion: maintaining the identity of a vehicle, or groups of vehicles as they pass through multiple cameras sites. The algorithm uses a combination of color features and the spatial organization of vehicles within platoons to minimize false positives. The algorithm could be used in an application to track individual cars as they travel long distances through a traffic system allowing the measurement of point-to-point traffic parameters, such as travel time.

关键词： Cameras Telecommunication traffic Vehicle detection Costs Sensor systems Hardware Traffic control Bandwidth Internet Fuses

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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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Robot homing based on corner tracking in a sequence of panoramic images

Robot homing based on corner tracking in a sequence of panor...

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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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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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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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