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

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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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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation.

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

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Structured edge map of curved objects in a range image

Structured edge map of curved objects in a range image

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Conference on computer vision and Pattern Recognition (CVPR)

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

An approach to the computation of a representation of objects with a planar and curved faces using discontinuity features in range images is presented. Edge maps are computed from real laser triangulation images using local operators and shadow analysis, and then structured into an edge-junction graph embedding and quantitative information. This is achieved by appealing to certain concepts of line-drawing analysis adapted to the three-dimensional nature of range imaging. The edge-oriented method is primarily useful for objects that are well-described by their edges. The main advantage of edge-based descriptions is that no fixed surface primitives are assumed. On the other hand, this scheme can only represent objects without any surface crease edges (such as a sphere) by viewpoint-dependent limb edges. This information may be insufficient for the ensuing high-level task. Thus, a generalization of the description format might include a surface analysis to provide a richer representation.< >

关键词： Image edge detection Optical imaging Image analysis Layout Data mining computer vision Intelligent robots Surface reconstruction Surface emitting lasers Optical noise

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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

引用

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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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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A multimodal framework for vehicle and traffic flow analysis

A multimodal framework for vehicle and traffic flow analysis

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International Conference on Intelligent Transportation

作者： J. Ploetner M.M. Trivedi Computer Vision and Robotics Research Laboratory CVRR University of California San Diego La Jolla CA USA

This paper presents an overview of a novel multimodal system being developed at UC San Diego for vehicle detection and traffic flow analysis. A distributed multimodal array (DiMMA) framework is presented for sensory data acquisition, processing, analysis, fusion, and "active" control mechanisms needed to recognize objects, events, and activities which have multi-modal signatures. Current sensing modalities being researched include video, audio, seismic, magnetic, and passive infrared. Feature extraction and data fusion techniques are being investigated to improve robustness and study the advantages and disadvantages of each sensing modality. Preliminary results of this rapidly deployable system are discussed, along with possible future expansions, including laser range scanners, geophones, pneumatic road tubes, and traditional inductive loops

关键词： Vehicle detection Road vehicles Monitoring Robustness Sensor arrays Magnetic analysis Traffic control Information security Detectors Cameras

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A track-based human movement analysis and privacy protection system adaptive to environmental contexts

A track-based human movement analysis and privacy protection...

引用

IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Sangho Park M.M. Trivedi Computer Vision and Robotics Research (CVRR) Laboratory University of California San Diego La Jolla CA USA

This paper presents a track-based system for human movement analysis and privacy protection. Our system is adaptive to environmental contexts such as illumination variations, complex moving cast shadows, different camera perspectives, and diverse sue scenarios. Most of outdoor surveillance systems have been targeting at specific environmental situation: i.e., specific time, place, and activity scenarios. We address that more general human movement analysis systems should be able to handle multiple heterogeneous situations in an adaptive manner. We introduce the concept of "spatio-temporal personal boundary" to represent different grouping patterns of human tracks, and we incorporate the concept with various site models. Experimental evaluations with extensive outdoor data show our system's robustness to environmental changes and effectiveness to properly handle various environmental contexts.

关键词： Privacy Protection Adaptive systems Biomedical monitoring Humans Surveillance Layout Robot vision systems Target tracking Cameras

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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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New generation of multirobot systems

New generation of multirobot systems

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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