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IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Copeland Ravichandran Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

This paper presents a Radon transform-based approach to the detection of linear features in images characterized by high noise levels. This approach is based on the localized Radon transform where the intensity integration is performed over short line segments rather than across the entire image. The algorithm, referred to as the feature space line detector (FSLD) algorithm, is tested on synthetic images of linear features with very high noise levels. The results of this testing demonstrate the algorithm's robustness in the presence of noise, as well as its ability to detect and localize linear features that are significantly shorter than the image dimensions or that display some curvature.< >

关键词： Feature extraction

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Real-time visual tracking using correlation techniques

Real-time visual tracking using correlation techniques

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IEEE Workshop on Applications of computer vision (WACV)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The Minimum Noise and Correlation Energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3-D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation. The correlation filter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.< >

关键词： Target tracking Cameras Robot vision systems Visual servoing computer vision Adaptive filters Mobile robots Laboratories Power engineering and energy Pipelines

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A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMAGE STREAMS 6

A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMA...

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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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SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

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International Journal of Pattern Recognition and Artificial Intelligence 1993年第1期7卷 123-144页

作者： CHUXIN CHEN MOHAN M. TRIVEDI Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville TN 37996–2100 USA

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

关键词： Sensor-based robotics intelligent human-machine interface real-time robot simulation sensor simulation visualization virtual reality interactive control

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A novel graphical simulation and animation environment for integrated sensory-motor systems

A novel graphical simulation and animation environment for i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.B. Marapane M.M. Trivedi N. Lassiter Computer Vision Robotics Research Laboratory Electrical Computer Engineering Department University of Tennessee Knoxville TN USA

Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.

关键词： Animation Robot sensing systems Robot vision systems Buildings Software performance Hardware Kinematics Sensor phenomena and characterization Sensor systems Testing

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Developing telerobotic systems using virtual reality concepts

Developing telerobotic systems using virtual reality concept...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Trivedi C.X. Chen Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.

关键词： Telerobotics Virtual reality Robot sensing systems Humans Intelligent robots Man machine systems Intelligent systems computer vision Application software Switches

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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TRANSFORMATION RELATIONSHIPS FOR 2 COMMONLY UTILIZED EULER ANGLE REPRESENTATIONS

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1992年第3期22卷 555-559页

作者： CHEN, CX TRIVEDI, MM Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in research laboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.

关键词： Robot kinematics Robot sensing systems Manipulators Laboratories Quaternions US department of Energy Software systems Hardware Software standards Control systems

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Active exploration using contact and noncontact sensors: An integrated system

Active exploration using contact and noncontact sensors: An ...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gadagkar, H.P. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with describing and discussing our approach towards the development of a multi-sen,sory closed-loop active robotic exploration system for workspace characterization. The exploration system involves acquisition, processing, and integration of sensory inputs acquired from uision, poin,t laser range, tactile, and force/torque sensors. The exploration process results in building three-dimensional Half-space models of various polyhedral (convex and concave) objects encountered in the workspace. Subsequent to the process of building object models using active exploration mechanisms, the object models allow extraction of essential geometric information required for performing tasks such as object identification, grasping, and man ipiila t io n. Th e experim en tal resuh showtli at vurious geometrical descriptors that are required for model building, can be extracted quite reliably using the sensor specific exploratory mechanisms. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Geometry

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