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Binocular versus trinocular stereo

Binocular versus trinocular stereo

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： U.R. Dhond J.K. Aggarwal Computer & Vision Research Center ENS 519 Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

Consideration is given to the twin issues of the gain in accuracy of stereo correspondence and the accompanying increase in computational cost due to the use of a third camera for stereo analysis. The relative performance of binocular and trinocular stereo algorithms on stereo images with known ground truth is evaluated. A technology for comparing the matching performance of stereo algorithms by using real digital elevation maps is developed. Trinocular local matching reduces the percentage of mismatches having large disparity errors by more than one half when compared to binocular matching, while trinocular stereopsis increases the computational cost of local matching over binocular stereopsis by only about one fourth.< >

关键词： Stereo vision Cameras computer vision Computational efficiency Contracts Costs Image analysis Image recognition Data mining Robot vision systems

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A tutorial on multisensor integration and fusion

A tutorial on multisensor integration and fusion

引用

Annual Conference of Industrial Electronics Society

作者： R.C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >

关键词： Tutorial Sensor systems Intelligent sensors Intelligent robots Intelligent systems Sensor fusion Machine intelligence Control systems Aircraft navigation Laboratories

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

引用

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： R.C. Luo R.S. Scherp Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >

关键词： Object recognition Intelligent sensors Sensor phenomena and characterization Robot sensing systems Intelligent robots Robot vision systems Cameras Mobile robots Laser modes Data mining

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Shape from focus: an effective approach for rough surfaces

Shape from focus: an effective approach for rough surfaces

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.K. Nayar Y. Nakagawa The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Production Engineering Research Laboratory Hitachi and Limited Yokohama Kanagawa Japan

Two algorithms for depth estimation are presented. The first algorithm simply looks for the focus level that maximizes the focus measure at each image point. The second algorithm uses a Gaussian model to interpolate the focus measures to obtain more accurate depth estimates. The algorithms were implemented and tested on surfaces of different roughness and reflectance properties. The results indicate that the shape-from-focus method may be applied to a variety of industrial vision problems.< >

关键词： Shape Rough surfaces Surface roughness Focusing Frequency Image sensors Image analysis Layout Robots Image sequences

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Extending the classical AI planning paradigm to robotic assembly planning

Extending the classical AI planning paradigm to robotic asse...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Hutchinson A.C. Kak Robot Vision Laboratory School of Electrical Engineering Purdue University West Lafayette IN USA Department of Electrical & Computer Engineering University of Illinois Urbana IL USA

A description is given of SPAR, a task planner that has been implemented on a PUMA 762. SPAR is capable of formulating manipulation plans to meet specified assembly goals; these manipulation plans include grasping and regrasping operations if they are deemed necessary for successful completion of assembly. SPAR goes beyond classical AI planners in the sense that SPAR is capable of solving geometric goals associated with high-level symbolic goals. Consequently, if a high-level symbolic goals. Consequently, if a high-level symbolic goal is on (A,B), SPAR can also entertain the geometric conditions associated with such a goal. Therefore, a simple goal such as on (A,B) may or may not be found to be feasible depending on the kinematic constraints implied by the associated geometric conditions. SPAR has available to it a user-defined repertoire of actions for solving goals and associated with each action is an uncertainty precondition that defines the maximum uncertainty in the world description that would guarantee the successful execution of that action. SPAR has been implemented as a nonlinear constraint posting planner.< >

关键词： Artificial intelligence Robotic assembly Uncertainty Robot vision systems Laboratories Kinematics Motion planning robotics and automation Manipulators Intelligent manufacturing systems

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Determining the axis of a surface of revolution using tactile sensing

Determining the axis of a surface of revolution using tactil...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier R.S. Fearing Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

Sparse tactile sensing can be used to determine the positions and orientations of objects if the objects are restricted to being of a particular class. Consideration is given to a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three tactile curvature measurements on a surface of revolution with sweeping rule in C/sup 2/ are shown to be sufficient for determining the axis except for certain singular configurations. Position and orientation error bounds and preliminary experimental results are presented for a capacitive tactile sensor with two contacts. Optimal angular spacing was seen to be 90 degrees between contacts. Experiments showed that the method worked with a position error of 0.07 in. and an angle error of 7.3 degrees .< >

关键词： Tactile sensors Robot sensing systems Force feedback Shape measurement Laboratories Force sensors Fingers Solid modeling Probes Image analysis

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Control primitives for robot systems

Control primitives for robot systems

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D.C. Deno R.M. Murray K.S.J. Pister S.S. Sastry Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA

A methodology is developed for describing of hierarchical control of robot systems in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to encompass a wide variety of systems. A consistent set of primitive operations which form the core of a robot system description and control language is presented. This language, motivated by the hierarchical organization of neuromuscular systems, is capable of describing a large class of robot systems under a variety of single-level and distributed control schemes.< >

关键词： Robot control Control systems Robot kinematics Equations Manipulator dynamics Laboratories Feedback loop Data structures Lagrangian functions

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A motion planner for multiple mobile robots

A motion planner for multiple mobile robots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D. Parsons J. Canny Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

An algorithm is described for planning the motions of several mobile robots which share the same workspace. Each robot is capable of independent translational motion in two dimensions, and the workspace contains polygonal obstacles. The algorithm computes a path for each robot which avoids all obstacles in the workspace as well as the other robots. It is guaranteed to find a solution if one exists. The algorithm takes a cell decomposition approach, where the decomposition used is based on the idea of a product operation defined on the cells in a decomposition of a two-dimensional free space. This algorithm is being implemented for the case of two robots as part of ongoing research into useful algorithms for task-level programming of the RobotWorld system.< >

关键词： Mobile robots Orbital robotics Robot sensing systems Law Legal factors Rails

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An Ultrasound Imaging Technique For Underwater Robot vision

An Ultrasound Imaging Technique For Underwater Robot Vision

引用

OCEANS

作者： Qin Zhengdi J. Ylitalo Computer Technology Laboratory Technical Research Centre of Finland (VTT) Oulu Finland Department of Electrical Engineering University of Oulu Oulu Finland

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Time-optimal trajectories for a robot manipulator: a provably good approximation algorithm

Time-optimal trajectories for a robot manipulator: a provabl...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G. Heinzinger P. Jacobs J. Canny B. Paden Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley Berkeley CA USA Laboratoire d'Automatique et d'Analyse des Systemes Toulouse France Department of Computer Science University of California Berkeley CA USA Department of Mechanical Engineering and Center for Robotic Systems in Microelectronics University of California슠Santa Barbara Santa Barbara CA USA

An algorithm is presented for generating near-time-optimal trajectories for an open-kinematic-chain manipulator moving in a cluttered workspace. This is the first algorithm to guarantee bounds on the closeness of an approximation to a time-optimal trajectory. The running time and space required are polynomial in the desired accuracy of the approximation. The user may also specify tolerances by which the trajectories must clear obstacles in the workspace to allow modeling of control errors.< >

关键词： Robots Manipulators Approximation algorithms Optimized production technology Safety

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