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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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Face model adaptation with active tracking

Face model adaptation with active tracking

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IEEE International Conference on Image Processing

作者： Lijun Yin A. Basu Computer Vision and Robotics Research Laboratory Department of Computing Science University of Alberta Edmonton AB Canada

A system for face model adaptation combining active tracking is presented. Input from an active camera is used for MPEG4 model based coding. First, the background is compensated considering a moving camera (tilt or pan). Second, the talking face is segmented from the compensated background using fusion of frame differences. A morphological filter is then applied to make the system less sensitive to noise. Third, Hough transform and deformable template coupled with color information are exploited to detect the facial features, e.g., eyes, mouth. Fourth, a wireframe model is adapted to the extracted face by an extended dynamic mesh. The feasibility of the proposed system is demonstrated using several real active video sequences.

关键词： Adaptation model Face detection Cameras MPEG 4 Standard Filters Colored noise Facial features Eyes Mouth Data mining

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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New generation of multirobot systems

New generation of multirobot systems

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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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MoNiF: a modular neuro-fuzzy controller for race car navigation

MoNiF: a modular neuro-fuzzy controller for race car navigat...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

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

This paper characterizes how well the modular neuro-fuzzy controller, MoNiF, can perform in robotic applications by testing it in a race-car simulator. The performance of this controller is compared with that of a neural network controller (NNC) and the best programmed car (the ideal car). During the phase of learning from the ideal car, MoNiF reaches its stable performance (when it demonstrates good control) at lap 300; while the NNC requires 700 laps. Without further learning and when competing in the same learning track, MoNiF completes 20 laps of the track about 24 seconds later than the ideal car but 29 second ahead of the NNC car. However, when they all are competing in different unfamiliar tracks, MoNiF performs comparably to the ideal car, while NNC has completely lost its ability to drive. Observing the behaviors of NNC and MoNiF, we conclude that MoNiF learns to refine the output of expert rules and thus can drive in most tracks. Meanwhile NNC learns to drive in a particular track but loses its generality for other tracks. It is shown that this modular control method, equipped with the pretrained knowledge of only few simple expert rules, learns much faster than a NNC without any apriori knowledge.

关键词： Navigation Neural networks computer vision Robot vision systems Application software computer simulation Target tracking Laboratories Performance evaluation Testing

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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The area bisectors of a polygon and force equilibria in programmable vector fields 97

The area bisectors of a polygon and force equilibria in prog...

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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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High-speed extraction of 3D structure of selectable quality using a translating camera

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computer vision AND IMAGE UNDERSTANDING 1996年第1期64卷 97-110页

作者： Dalmia, AK Trivedi, M Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee 37996-2100

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds, This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera, Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, interframe camera displacement, and number of frames in a stream are chosen to control the resolution, depth of field, and accuracy, The acquisition and processing of the image stream are done in real time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the system's accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between image acquisition and processing. The total acquisition and processing time in these experiments is in the range from 0.27 to 1.56 s. The depth results have an accuracy of 85% to 92%. (C) 1996 Academic Press, Inc.

关键词： computer vision

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

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. © 1996 IEEE.

关键词： Pattern recognition

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