A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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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...
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Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent ro...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >
A design of a three-dimensional localiser that is intended for autonomous robot vehicles is presented. The design is implemented in air using ultrasonic beacons but can be adapted using sonar to underwater environment...
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This paper presents a hardware and software system for the generation of video patterns that can be used for various vision tests, particularly depth perception. Among the capabilities of the system is generation of s...
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A new edge detection technique based on anisotropic diffusion is implemented using mean field theory. This optimization approach to edge detection provides localized, thinned, and linked edges that are useful for imag...
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The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs an...
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The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >
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