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CONF ON SENSOR FUSION 6

作者： DALMIA, AK TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819413240

The computation of 3-D structure from motion using a monocular sequence of images in the paradigm of active vision is investigated in this paper. Robotic tasks such as navigation, manipulation, and object recognition all require 3-D description of scene. The 3-D description for these tasks varies in resolution, accuracy, robustness, range, and time. In developing such a system, it must have the capability to actively control the imaging parameters so that a 3-D description sufficient enough for that task is generated. The objective of this paper is to investigate a strategy suitable for fast and active 3-D structure estimation. First, the process of 3-D structure estimation in the paradigm of active vision is discussed. Second, implication of image streams in 3-D structure computation is analyzed. The three approaches to structure from motion, feature based, optical flow based, and spatial and temporal gradient based, are reviewed for their efficacy in fast and active estimation of 3-D structure. Finally, a pipeline based implementation of a spatial and temporal gradient based approach is presented alongwith detailed experimental analysis. © 1993 SPIE. All rights reserved.

关键词： Object recognition

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AN ACTIVE vision SYSTEM FOR DEPTH EXTRACTION USING MULTI-PRIMITIVE HIERARCHICAL STEREO ANALYSIS AND MULTIPLE DEPTH CUES

AN ACTIVE VISION SYSTEM FOR DEPTH EXTRACTION USING MULTI-PRI...

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CONF ON SENSOR FUSION AND AEROSPACE APPLICATIONS

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819411922

Binocular stereo, vergence stereo, and depth from focus have been extensively studied in isolation in the past for extraction of depth. These passive approaches have there oivn strengths and limitations. All these cues differ in their input image requirements, computational requirements, and the quality and nature of results they provide. None of them by themselves is sufficient to reliably extract depth information from a wide variety of scenes. It is evident an integrated system ivhich employs multiple cues and exploits their strengths would be most critical for developing a robust depth extraction system. Active vision paradigm alloivs us to develop such a system where various depth cues cooperate to derive the 3-D structure of the scene. In this, the integration would be accomplished by active intelligent control of the acquisition processes tightly coupled to the analysis of image data. One of the uniqueness of our integration approach is that while previous approaches have used a single primitive stereo system, typically edgel based, we have chosen a novel multi-primitive hierarchical(MPH) system. In MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives, utilizing a hierarchical control strategy. The MPH stereo system consists of three integrated subsystems: region based analysis module;linear edge segment based analysis module;and edgel based stereo analysis module. The use of regions and edge segments in addition to the edgel based analysis add a new dimension to the extraction of depth from stereo images. In fact, even in an integrated multiple cue based system, an edgel based binocular stereo approach alone is insufficient to process a variety of scenes. The reliance of different primitives at various levels makes MPH stereo analysis ideal for use in an integrated multiple cue based depth extraction system. © 1993 SPIE. All rights reserved.

关键词： Extraction

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SIMULATION AND ANIMATION OF SENSOR-DRIVEN ROBOTS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1994年第5期10卷 684-704页

作者： CHEN, CX TRIVEDI, MM BIDLACK, CR Computer Vision and Robotics Research Laboratory the Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

关键词： Animation Robot sensing systems robotics and automation Visualization Robot programming Software safety Computational modeling computer simulation Automatic programming Software systems

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SAGE: A decision support system for the sequencing of operations within a robotic workcell

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Decision Support Systems 1988年第3期4卷 329-343页

作者： Freedman, P. Malowany, A. Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University Montréal Que. Canada

This paper describes a new approach to decision support based on logic programming. SAGE, Sequence Analysis by Graphical Evaluation, is a both a logic framework and a set of Prolog programs to express and then solve the problem of repetitive sequencing of operations within a robotics workcell. We create a Timed Petri Net from the user description consisting of the initial state of the workcell, plus the operations to be performed. Each operation is defined by (i) the command to be executed, (ii) a list of enabling conditions, (iii) a list of changes made to the state of the workcell by executing the command, and (iv) its relative integer duration. After some preliminary analysis, this net is used to generate the Task Space of all feasible time histories of workcell events. Repetitive sequences of all the workcell operations are then constructed from cycles in the Task space. From the feasible sequences thus identified, the time-optimal one is selected. SAGE clearly demonstrates both the power of symbolic expression, and the power of pattern matching as a basis for decision support systems. © 1988.

关键词： Petri Nets Prolog robotics

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Planning collision-free trajectories in time-varying environments: a two-level hierarchy

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The Visual computer 1988年第5期3卷 304-313页

作者： Kant, Kamal Zucker, Steven W. Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University Montréal Québec Canada

We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a global geometric planner that provides a coarse global trajectory (the path and velocity along it), which may be locally modified by the low-level local avoidance module if local sensors detect any obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementary aspects of the global trajectory planning approaches and the local obstacle avoidance approaches. © 1988 Springer-Verlag.

关键词： Obstacle avoidance Path planning robotics Trajectory planning Velocity planning

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Looking-in and looking-out of a vehicle: Selected investigations in computer vision based enhanced vehicle safety

Looking-in and looking-out of a vehicle: Selected investigat...

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2005 IEEE International Conference on Vehicular Electronics and Safety

作者： Trivedi, Mohan M. Gandhi, Tarak McCall, Joel Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA United States

ISBN: (纸本)0780394356

This paper presents an overview of investigations into the role of computer vision technology in developing safer automobiles. We consider vision systems which can not only look out of the vehicle to detect and track roads, avoid hitting obstacles or pedestrian, but simultaneously look inside the vehicle to monitor the attentiveness of the driver and even predict her intentions. In this paper, a systems-oriented framework for developing computer vision technology for safer automobiles is presented. We will consider three main components of the system, driver, vehicle, and vehicle surround. We will discuss various issues and ideas for developing models for these main components as well as activities associated with the complex task of safe driving. The paper includes discussion of novel sensory systems and algorithms for capturing not only the dynamic surround information of the vehicle but also the state, intent and activity patterns of drivers. © 2005 IEEE.

关键词： computer vision

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A novel interactivity environment for integrated intelligent transportation and telematic systems 5

A novel interactivity environment for integrated intelligent...

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5th IEEE International Conference on Intelligent Transportation Systems, ITSC 2002

作者： Hall, T. Brett Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San DiegoCA92093-0407 United States

ISBN: (纸本)0780373898

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. © 2002 IEEE.

关键词： Vehicles

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Real-time wide area tracking: Hardware and software infrastructure 5

Real-time wide area tracking: Hardware and software infrastr...

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5th IEEE International Conference on Intelligent Transportation Systems, ITSC 2002

作者： Kogut, Greg T. Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San DiegoCA92093-0407 United States

ISBN: (纸本)0780373898

In recent years, large number of cameras have been installed in freeway and road environments. While the use of some of these cameras is being automated through computer vision, few computer vision systems allow for true wide-area large scaled automation. This paper describes a distributed computing system capable of managing an arbitrarily large sensor network using only common computing and networking platforms. The architecture is capable of handling many common computer vision tasks, as well as the inter-sensor communication necessary for developing new algorithms which employ data from multiple sensors. This system is tested with an algorithm which tracks moving objects through a prototype camera network with non-overlapping fields of view in a college campus environment. This algorithm allows the system to maintain the identity of a tracked objects as it leaves find enters the fields of view of individual sensors. Such an algorithm is necessary for applications which require tracking objects over large distances or over long periods of time in an environment without complete sensor coverage. © 2002 IEEE.

关键词： computer vision

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Registration of multimodal stereo images using disparity voting from correspondence windows

Registration of multimodal stereo images using disparity vot...

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IEEE International Conference on Video and Signal Based Surveillance 2006, AVSS 2006

作者： Krotosky, Stephen Trivedi, Mohan University of California San Diego Computer Vision and Robotics Research Laboratory San Diego CA United States

ISBN: (纸本)0769526888

This paper presents a method for registering multimodal imagery in short range surveillance situations when the differences in object depths preclude any global registration techniques. An analysis of multimodal registration approaches gives insight into the limitations of global assumptions and motivates the developed algorithm. Using calibrated stereo imagery, we use maximization of mutual information in sliding correspondence windows that inform a disparity voting scheme to demonstrate successful registration of color and thermal images. Extensive testing of scenes with multiple people at different depths and levels of occlusion shows high rates of successful registration and gives a reliable framework for further processing and analysis of the multimodal imagery. © 2006 IEEE.

关键词： computer vision

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Asymptotics of predictive stochastic complexity

Asymptotics of predictive stochastic complexity

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1991 Data Compression Conference, DCC 1991

作者： Gerencser, Laszlo Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University MontrealQC Canada

The purpose of this paper is to present the basic ideas of the theory of stochastic complexity with rigorous asymptotic results in the field of time-series analysis and system identification, which demonstrate the app... 详细信息

ISBN: (纸本)0818692022

关键词： Time series analysis

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