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Binary and ternary coded structured light 3D scanner for shiny objects

25th International Symposium on computer and Information Sciences, ISCIS 2010

作者： Benveniste, Rifat Ünsalan, Cem Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul 34755 Turkey

ISBN: (纸本)9789048197934

Three dimensional range data provides useful information for computer vision, computer graphics, and object recognition applications. For these, extracting the range data reliably is utmost important. Therefore, various range scanners based on different operating principles are proposed in the literature. Although these scanners can be used in diverse applications, most of them cannot be used to scan shiny objects under ambient light. This is a severe restriction. We propose color invariant based binary and ternary coded structured light range scanners to solve this problem. We hypothesize that, by using color invariants we can eliminate the effects of highlights and ambient light in the scanning process. Therefore, we can extract the range data of shiny and matte objects in a robust manner. We implemented three different range scanners to test our hypothesis. We performed tests on various objects and provided their range data. © 2011 Springer Science+Business Media B.V.

关键词： Scanning

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Road network extraction using edge detection and spatial voting

Road network extraction using edge detection and spatial vot...

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2010 20th International Conference on Pattern Recognition, ICPR 2010

作者： Sirmaçek, Beril Ünsalan, Cem Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul 34755 Turkey

ISBN: (纸本)9780769541099

Road network detection from very high resolution satellite images is important for two main reasons. First, the detection result can be used in automated map making. Second, the detected network can be used in trajectory planning for unmanned aerial vehicles. Although an expert can label road pixels in a given satellite image, this operation is prone to errors. Therefore, an automated system is needed to detect the road network in a given satellite image in a robust manner. In this study, we propose a novel approach to detect the road network from a given panchromatic Ikonos satellite image. Our method has five main steps. First, we apply a nonlinear bilateral filtering to smooth the given image. Then, we extract Canny edges and the gradient information as local features. Using these local features, we generate a spatial voting matrix. This voting matrix indicates the possible locations of the road network pixels. By processing this voting matrix in an iterative manner, we detect initial road pixels. Finally, we apply a tracking algorithm on the voting matrix to detect the missing road pixels. We tested our method on various satellite images and provided the extracted road networks in the experiments section. © 2010 IEEE.

关键词： Edge detection

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A color invariant based binary coded structured light range scanner for shiny objects

A color invariant based binary coded structured light range ...

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International Conference on Pattern Recognition

作者： Benveniste, Rifat Ünsalan, Cem Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul 34755 Turkey

ISBN: (纸本)9780769541099

Object range data provide valuable information in recognition and modeling applications. Therefore, it is extremely important to reliably extract the range data from a given object. There are various range scanners based on different principles. Among these, structured light based range scanners deserve spacial attention. In these systems, coded light stripes are projected onto the object. Using the bending of these light stripes on the object and the triangulation principle, range information can be obtained. Since this method is simple and fast, it is used in most industrial range scanners. Unfortunately, these range scanners can not scan shiny objects reliably. The main reason is either highlights on the shiny object or the ambient light in the environment. These disturb the coding by illumination. As the code is changed, the range data extracted from it will also be disturbed. In this study, we propose a color invariant based binary coded structured light range scanner to solve this problem. The color invariant used can eliminate the effects of highlights on the object and the ambient light from the environment. This way, we can extract the range data of shiny objects in a robust manner. To test our method, we developed a prototype range scanner. We provide the obtained range data of various test objects with our range scanner. © 2010 IEEE.

关键词： Scanning

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Minimum error bounded efficient ℓ1 tracker with occlusion detection

Minimum error bounded efficient ℓ1 tracker with occlusion d...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Xue Mei Haibin Ling Yi Wu Erik Blasch Li Bai Assembly Test Technology Development Intel Corporation Chandler AZ USA University of Maryland College Park USA Center of Information Science & Technology Computer & Information Science Department Temple University Philadelphia PA USA College of Computer and Software Nanjing University of Information Science and Technology Nanjing China Air Force Research Laboratory SNAA OH USA Electrical and Computer Engineering Department Temple University Philadelphia PA USA

Recently, sparse representation has been applied to visual tracking to find the target with the minimum reconstruction error from the target template subspace. Though effective, these L1 trackers require high computational costs due to numerous calculations for ℓ 1 minimization. In addition, the inherent occlusion insensitivity of the ℓ 1 minimization has not been fully utilized. In this paper, we propose an efficient L1 tracker with minimum error bound and occlusion detection which we call Bounded Particle Resampling (BPR)-L1 tracker. First, the minimum error bound is quickly calculated from a linear least squares equation, and serves as a guide for particle resampling in a particle filter framework. Without loss of precision during resampling, most insignificant samples are removed before solving the computationally expensive ℓ 1 minimization function. The BPR technique enables us to speed up the L1 tracker without sacrificing accuracy. Second, we perform occlusion detection by investigating the trivial coefficients in the ℓ 1 minimization. These coefficients, by design, contain rich information about image corruptions including occlusion. Detected occlusions enhance the template updates to effectively reduce the drifting problem. The proposed method shows good performance as compared with several state-of-the-art trackers on challenging benchmark sequences.

关键词： Target tracking Minimization Business process re-engineering Probability Visualization Image reconstruction Upper bound

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Single stripe projection based range scanner implementation on TI DaVinCi DM6437 EVM

Single stripe projection based range scanner implementation ...

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4th European DSP Education and research Conference, EDERC 2010

作者： Benveniste, Rifat Ünsalan, Cem Yeditepe University Department of Electrical and Electronics Engineering Computer Vision Research Laboratory Kayisdagi Istanbul 34755 Turkey

ISBN: (纸本)9780955204746

Range scanners are getting more popular as their application areas expand. Among various range scanners used in applications, the single stripe triangulation based ones are promising for high resolution scanning. Unfortunately, these scanners have problems in obtaining the range data of shiny objects (having highlights) under ambient light. In our previous study, we proposed a novel color invariant to solve this problem. However, the system was implemented on a desktop PC and the overall scan takes exhaustive time, which is not acceptable for most applications. In this study, we realized our single stripe based scanner using a TI DaVinci DM6437 EVM. We, also simplified our color invariant to improve the overall process time. We tested the performance of our scanner in extracting the range data of several objects with various surface types and colors. We also measured and reported the process timings. © 2010 Texas Instruments.

关键词： Color

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3D surveillance coverage using maps extracted by a monocular SLAM algorithm

3D surveillance coverage using maps extracted by a monocular...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Lefteris Doitsidis Alessandro Renzaglia Stephan Weiss Elias Kosmatopoulos Davide Scaramuzza Roland Siegwart Informatics & Telematics Institute Center of Research and Technology Hellas Thessaloniki Greece Department of Electronics Technological Educational Institute of Crete Chania Greece INRIA Rhône-Alpes Grenoble France ETH Autonomous Systems Laboratory Zurich Switzerland Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece GRASP laboratory University of Pennsylvania Philadelphia USA

This paper deals with the problem of deploying a team of flying robots to perform surveillance coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion is the knowledge of the terrain's morphology. In this paper, we introduce a two-step centralized procedure to align optimally a swarm of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area of interest using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, building an incremental map of the surrounding environment. The map generated is processed and serves as an input in an optimization procedure using the cognitive adaptive methodology initially introduced in [1], [2]. The output of this procedure is the optimal arrangement of the robot team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

关键词： Three dimensional displays Optimization Simultaneous localization and mapping Cameras

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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and Control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust vision measurement Switch control law The specified trajectory Equidistance interpolation

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An active visual loop closure detection and validation system for topological SLAM

An active visual loop closure detection and validation syste...

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2010 Australasian Conference on robotics and Automation, ACRA 2010

作者： Wen, Lik Lui, Dennis Jarvis, Ray Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780980740417

Loop closing is a vital component for mobile robot navigation without a priori information of the environment, since the mobile robot has to explore, build and at the same time maintain a globally consistent map. Moreover, it allows the mobile robot to recover from positional drifts due to errors associated with sensor measurements once loop closing is performed. In this paper, an active loop closing detection and validation system for a fully autonomous vision-based mobile robot performing topological SLAM is presented. It integrates an appearance-based mapping and localization system with the path planner to achieve an active loop closing system. This system does not only detect loop closures but actively validates them by taking advantage of the tight integration with the path planner. Experimental results conducted in a semi-outdoor environment validate the proposed system.

关键词： Mobile robots

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Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

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Science China(Life Sciences) 2010年第10期53卷 1189-1195页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

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