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IEEE International Conference on Systems, Man and Cybernetics

作者： A.K. Dalmia M. Trivedi Electrical and Computer Engineering Department Computer Vion and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper presents a method to accurately and efficiently extract depth from a sequence of images. The method integrates two techniques of depth extraction, namely, spatial and temporal gradient analysis, and stereo processing to enhance the reliability of the depth extraction. Spatial and temporal gradient analysis has been shown to provide depth in a highly efficient manner. However, due to the small image displacement used in this algorithm, depth with only limited precision can be computed. To enhance the precision, a stereo based matching is performed on the first frame and the last frame of the monocular sequence used in spatial and temporal gradient analysis. The stereo matching is limited to a small region, based on the results of the spatial and temporal gradient analysis. The performance of the approach is demonstrated through experiments with real scenes.< >

关键词： Data mining Displacement measurement Equations Cameras Robots Laboratories Image sequence analysis Performance analysis Machine vision Art

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Representation and learning of invariance

Representation and learning of invariance

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IEEE International Conference on Image Processing

作者： K. Nordberg G. Granlund H. Knutsson Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden

Invariance is a very important property of features that are useful for vision. A great deal of research on this subject is going on at different labs. While invariance mechanisms can be prescribed for certain descriptors, it is our firm belief that this is not feasible for descriptors of higher level properties in general. As a consequence, these invariance mechanisms have to be learned by the vision system. In this paper, such a learning structure is proposed. A major contribution in this paper, as well as a crucial component for a successful operation, is the use of a coordinate-free information representation: the channel representation. Furthermore, each processing unit is a linear perceptron which operates on outer products of input data, implying a complex space of invariance. Two examples of how the representation can be employed are included. The examples shows an excellent separation of invariance modes, good accuracy, as well as a fast convergence.< >

关键词： computer vision Laboratories Mechanical factors Machine vision Convergence Computational complexity Stereo vision Optical sensors Image motion analysis Object recognition

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Anisotropic diffusion pyramids for image segmentation

Anisotropic diffusion pyramids for image segmentation

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IEEE International Conference on Image Processing

作者： S.T. Acton A.C. Bovik M.M. Crawford School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA Department of Electrical & Computer Engineering Laboratory for Vision Systems Center for Vision and Image Science Center for Space Research and Department of Mechanical Engineering University of Texas Austin Austin TX USA

We introduce the Anisotropic Diffusion Pyramid (ADP), a structure for multiresolution image processing. We also develop the ADP for use in region-based segmentation. The pyramid is constructed using the anisotropic diffusion equations, creating an efficient scale-space representation. Segmentation is accomplished using pyramid node linking. Since anisotropic diffusion preserves edge localization as the scale is increased, the region boundaries in the coarse-to-fine ADP segmentation are accurately delineated. An application to segmentation of remotely sensed data is provided. The results of ADP segmentation are compared to Gaussian-based pyramidal segmentation. The examples show that the ADP has a superior ability to subdivide the image into integral groupings, minimizing the error in boundary localization and in pixel intensity.< >

关键词： Anisotropic magnetoresistance Image segmentation Smoothing methods Equations Image resolution Pixel computer vision Machine vision Hemorrhaging Radiometry

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MANIPULATIONS OF OCTREES AND QUADTREES ON MULTIPROCESSORS

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International Journal of Pattern Recognition and Artificial Intelligence 1994年第2期8卷 439-455页

作者： VIPIN CHAUDHARY K. KUMARI P. ARUNACHALAM J.K. AGGARWAL Parallel and Distributed Computing Laboratory Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 USA Sun Microsystems 2820 Orchard Parkway San Jose CA 95134 USA Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas at Austin Austin Texas 78712–1084 USA

Octrees offer a powerful means for representing and manipulating 3-D objects. This paper presents an implementation of octree manipulations using a new approach on a shared memory architecture. Octrees are hierarchical data structures used to model 3-D objects. The manipulation of these data structures involves performing independent computations on each node of the octree. Octrees are much easier to deal with than other forms of representations used to model 3-D objects especially where extensive manipulations are involved. When these operations are distributed among multiple processing elements (PEs) and executed simultaneously, a significant speedup may be achieved. Manipulations such as a complement, a union, an intersection and other operations such as finding the volume and centroid which this paper describes are implemented on the Sequent Balance multiprocessor. In this approach the PEs are allocated dynamically, resulting in a uniform load balancing among them. The experimental results presented illustrate the feasibility of the approach. Although this evaluation has been originally done for shared memory machines, it will provide insight for the evaluation of other architectures.

关键词： Shared memory architecture dynamic allocation union intersection orthogonal views

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The Texas active vision testbed

The Texas active vision testbed

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IEEE International Conference on Systems, Man and Cybernetics

作者： W.N. Klarquist A.C. Bovik Laboratory for Vision Systems Department of Electrical & Computer Engineering University of Texas Austin Austin TX USA

The Texas active vision testbed (TAVT) represents the most recent stage of an ongoing design process that weighed a large number of alternatives, for both hardware and software to create a flexible and precise tool for active vision research. In this paper, we describe this platform and our ongoing research employing this tool. The platform is used in the development of depth recovery algorithms to extend conventional active vision techniques, such as variable baseline stereo and active focus control, as well as support research in the active control of a vergent stereo geometry.< >

关键词： Software testing Process design Hardware Software tools Geometry

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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Sensorless manipulation using massively parallel microfabricated actuator arrays

Sensorless manipulation using massively parallel microfabric...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald R. Mihailovich N.C. MacDonald Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and The National Nanofabrication Facility Cornell University Ithaca NY USA

This paper investigates manipulation tasks with arrays of microelectromechanical structures (MEMS). We develop a geometric model for the mechanics of microactuators and a theory of sensorless, parallel manipulation, and we describe efficient algorithms for their evaluation. The theory of limit surfaces offers a purely geometric characterization of microscale contacts between actuator and moving object, which can be used to efficiently predict the motion of the object on an actuator array. It is shown how simple actuator control strategies can be used to uniquely align a part up to symmetry without sensor feedback. This theory is applicable to a wide range of microactuator arrays. Our actuators are oscillating structures of single-crystal silicon fabricated in a IC-compatible process. Calculations show that these actuators are strong enough to levitate and move, for example, a piece of paper.< >

关键词： Sensor arrays Actuators Microactuators Fabrication Micromechanical devices Laboratories Solid modeling Sensorless control Nanofabrication Robots

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A stereo vision teleoperated robotic vehicle

A stereo vision teleoperated robotic vehicle

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Australian and New Zealand Conference on Intelligent Information Systems

作者： R. Jarvis Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

Some quite precise teleoperated navigation of a simple radio controlled robotic vehicle can be achieved by providing colour video camera based stereo vision feedback to the remote operator. With a little practice the operator is able to experience a degree of telepresence sufficient to render the navigation task natural and safe. This paper details the components of the systems and describes its use for teleoperated lawn mowing of a typical domestic backyard. This development is to be regarded as an intermediate stage between direct human control and fully autonomous operation, between which modes it is intended that the operator withdraw gracefully from the task at hand.< >

关键词： Stereo vision Robot vision systems Intelligent robots Cameras Remotely operated vehicles Humans Road vehicles Radio navigation Radio control Feedback

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A 85-mW, 10-bit 40-Ms/s ADC with decimated parallel architecture

A 85-mW, 10-bit 40-Ms/s ADC with decimated parallel architec...

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Custom Integrated Circuits Conference (CICC)

作者： K. Nakamura M. Hotta R. Carley D. Allstot Central Res. Lab. Hitachi Ltd. Tokyo Japan Functional Devices Department Central Research Laboratory Hitachi and Limited Tokyo Japan Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The design of a low-power, 10-bit 40-Ms/s ADC integrated in 0.8-/spl mu/m multi-threshold CMOS is presented. This fully differential design employs a decimated parallel combination of single-bit and multi-bit per stage pipelined architectures to achieve this performance. The ADC, targeted for high resolution video terminals, dissipates 85-mW from 2.7-V supply, and occupies an area of 1.9 by 2.1-mm/sup 2/.< >

关键词： Parallel architectures Pipeline processing Analog-digital conversion Power dissipation Interleaved codes computer architecture Bandwidth Circuits Laboratories Machine vision

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SIGNIFICANT LINE SEGMENTS FOR AN INDOOR MOBILE ROBOT

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1993年第6期9卷 801-815页

作者： LEBEGUE, X AGGARWAL, JK Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

New algorithms for detecting and interpreting linear features of a real scene as imaged by a single camera on a mobile robot are described. The low-level processing stages are specifically designed to increase the usefulness and the quality of the extracted features for indoor scene understanding. In order to derive 3-D information from a 2-D image, we consider only lines with particular orientations in 3-D. The detection and interpretation processes provide a 3-D orientation hypothesis for each 2-D segment. This in turn is used to estimate the robot's orientation and relative position in the environment. Next, the orientation data is used by a motion stereo algorithm to fully estimate the 3-D structure when a sequence of images becomes available. From detection to 3-D estimation, a strong emphasis is placed on real-world applications and very fast processing with conventional hardware. Results of experimentation with a mobile robot under realistic conditions are given and discussed.

关键词： Mobile robots Image segmentation Layout computer vision Military computing Recursive estimation Ear Robot vision systems Cameras Data mining

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