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Communications in computer and Information Science 2014年 458卷 179-194页

作者： Lanz, Cornelia Olgay, Birant Sibel Denzler, Joachim Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Computer Vision Group Friedrich Schiller University Jena Jena Germany

ISBN: (纸本)9783662449103

In this work, we examine landmark localization and feature extraction approaches for the unexplored topic of therapeutic facial exercise recognition. Our goal is to automatically discriminate nine therapeutic exercises that have been determined in cooperation with speech therapists. We use colour, 2.5D and 3D image data that was recorded using Microsoft’s Kinect. Our features comprise statistical descriptors of the face surface curvature as well as characteristic profiles that are derived from face landmarks. For the nine facial exercises, we yield an average recognition accuracy of about 91% in conjunction with manually labeled landmarks. Additionally, we introduce a combined method for automatic landmark localization and compare the results to landmark positions obtained from Active Appearance Model fitting as well as manual labeling. The combined localization method exhibits increased robustness in comparison to AAMs. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Feature extraction

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Underwater robot-object contact perception using machine learning on force/torque sensor feedback

Underwater robot-object contact perception using machine lea...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nawid Jamali Petar Kormushev Arnau C. Viñas Marc Carreras Darwin G. Caldwell iCub Facility Istituto Italiano di Tecnologia via Morego 30 Genova Italy Department of Advanced Robotics Istituto Italiano di Tecnologia via Morego. 30 Genova Italy Computer Vision and Robotics Group (VICOROB) University of Girona Girona Spain

Autonomous manipulation of objects requires reliable information on robot-object contact state. Underwater environments can adversely affect sensing modalities such as vision, making them unreliable. In this paper we investigate underwater robot-object contact perception between an autonomous underwater vehicle and a T-bar valve using a force/torque sensor and the robot's proprioceptive information. We present an approach in which machine learning is used to learn a classifier for different contact states, namely, a contact aligned with the central axis of the valve, an edge contact and no contact. To distinguish between different contact states, the robot performs an exploratory behavior that produces distinct patterns in the force/torque sensor. The sensor output forms a multidimensional time-series. A probabilistic clustering algorithm is used to analyze the time-series. The algorithm dissects the multidimensional time-series into clusters, producing a one-dimensional sequence of symbols. The symbols are used to train a hidden Markov model, which is subsequently used to predict novel contact conditions. We show that the learned classifier can successfully distinguish the three contact states with an accuracy of 72% ± 12 %.

关键词： Robot sensing systems Grippers Valves Force Torque Hidden Markov models

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Mosaic construction from side-scan sonar: A comparison of two approaches for beam interpolation

Mosaic construction from side-scan sonar: A comparison of tw...

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IEEE/OES Acoustics in Underwater Geosciences Symposium (RIO Acoustics)

作者： Sebastián A. Villar Alejandro Rozenfeld Gerardo G. Acosta Ricard Prados Rafael García INTELYMEC-CIFICEN-CONICET Universidad Nacional del Centro de la Prov. de Bs. As. Olavarría Argentina Computer Vision and Robotics Group Universidad de Gerona Gerona España

This paper presents a unified methodology for the mosaic construction of the seafloor from side-scan sonar (SSS) imagery. This methodology applies techniques in SSS data correction to compensate the sonar beam pattern and the motion of the vehicle transporting the sonar that is doing the data acquisition. The vehicle motion is estimated through an Extended Kalman Filter (EKF). The EKF reduces the error propagation in the mosaic alignment by using the information on the past trajectory for predicting the new position of the vehicle. This process not only improves the navigation accuracy but also allows producing georeferenced mosaics. These georeferenced mosaics are enhanced using Nearest-Neighbor and Bilinear interpolation classic methods. The experimental data were acquired in the Atlantic Ocean near South Portugal utilizing an L-3 Klein System 3000 Digital SSS.

关键词： Interpolation Sonar Structural beams Vehicles Acoustic beams Sonar navigation Acoustics

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A vision-based quadrotor swarm for the participation in the 2013 international micro air vehicle competition

A vision-based quadrotor swarm for the participation in the ...

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2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014

作者： Pestana, Jesus Sanchez-Lopez, Jose Luis De La Puente, Paloma Carrio, Adrian Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSICUPM Spain Institut of Automation and Control Vienna University of Technology Austria

ISBN: (纸本)9781479923762

This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the IMAV2013 competition. © 2014 IEEE.

关键词： Kalman filters

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A system for the design and development of vision-based multi-robot quadrotor swarms

A system for the design and development of vision-based mult...

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2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014

作者： Sanchez-Lopez, Jose Luis Pestana, Jesus De La Puente, Paloma Suarez-Fernandez, Ramon Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain Institut of Automation and Control Vienna University of Technology Austria

ISBN: (纸本)9781479923762

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module. © 2014 IEEE.

关键词： Drones

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Detecting abnormal mammographic cases in temporal studies using image registration features

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12th International Workshop on Breast Imaging, IWDM 2014

作者： Martí, Robert Díez, Yago Oliver, Arnau Tortajada, Meritxell Zwiggelaar, Reyer Lladó, Xavier Computer Vision and Robotics Group University of Girona Av. Lluís Santaló 17071 Spain Department of Computer Science Aberystwyth University Ceredigion SY23 3DB United Kingdom

ISBN: (纸本)9783319078861

Image registration is increasingly being used to help radiologists when comparing temporal mammograms for lesion detection and classification. This paper evaluates the use of image and deformation features extracted from image registration results in order to detect abnormal cases with masses. Using a dataset of 264 mammographic images from 66 patients (33 normals and 33 with masses) results show that the use of a non-rigid registration method clearly improves detection results compared to no registration (AUC: 0.76 compared to 0.69). Moreover, feature combination using left and right breasts further improves the performance (AUC to 0.88) compared to single image features. © 2014 Springer International Publishing.

关键词： Image registration

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Iterative learning control for machining with industrial robots 19

Iterative learning control for machining with industrial rob...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Marchal, Pablo Cano Sörnmo, Olof Olofsson, Björn Robertsson, Anders Ortega, Juan Gómez Johansson, Rolf Group of Robotics Automation and Computer Vision University of Jaén JaénES-23071 Spain Department of Automatic Control LTH Lund University LundSE-221 00 Sweden

ISBN: (纸本)9783902823625

We consider an iterative learning control (ILC) approach to machining with industrial robots. The robot and the milling process are modeled using system identification methods with a data-driven approach. Two different model-based ILC algorithms are proposed and subsequently experimentally verified in a milling scenario. The difference between the two approaches is the required sensors for acquiring relevant input data for the algorithms. The results from the experiments indicate that the proposed methods have the potential of significantly decreasing the position errors in robotic machining, up to 85% in the considered milling scenario. © IFAC.

关键词： Two term control systems

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Real-time mosaicing with two-dimensional forward-looking sonar

Real-time mosaicing with two-dimensional forward-looking son...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Natalia Hurtós Sharad Nagappa Narcis Palomeras Joaquim Salvi Computer Vision and Robotics Group (VI-COROB) University de Girona Girona Spain

Forward-looking sonar can be used for underwater mapping when water visibility is poor. The generation of an acoustic mosaic of the environment is of high interest when underwater vehicles are used for surveys or search tasks. Moreover, if the mosaic is generated in real-time it can be used to provide instantaneous location feedback (e.g. to a ROV pilot or to an AUV), to ensure complete coverage of an area or facilitate the immediate location of targets. In this paper, we present an approach for achieving such a real-time mosaicing capability. Our system considers a simplified imaging model and estimates 2D sonar motions from the pairwise registration of sonar frames. The registration is performed by using a Fourier-based technique, avoiding the extraction of features and ensuring a fast implementation. The mosaicing problem is formulated using a pose graph, with the vertices being the sonar image positions and the edges being constraints from the vehicle odometry and the registration of consecutive and non-consecutive frames. The graph is incrementally optimized using the g2o framework and the optimized poses are then used to build the mosaic online. We apply the method on data gathered on real conditions and show that the resulting sonar mosaic closely matches both the offline generated mosaic as well as ground truth measurements while operating under real-time constraints.

关键词： Real-time systems Sonar navigation Optimization Sonar measurements Image edge detection Vehicles

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A system for the design and development of vision-based multi-robot quadrotor swarms

A system for the design and development of vision-based mult...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Jesús Pestana Paloma de la Puente Ramon Suarez-Fernandez Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition 3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module.

关键词： Unmanned aerial vehicles Visualization Trajectory Robots computers Wireless LAN Open source software

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A vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

A Vision-based Quadrotor Swarm for the participation in the ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jesús Pestana Jose Luis Sanchez-Lopez Paloma de la Puente Adrian Carrio Pascual Campoy Computer Vision Group Centre for Automation and Robotics Institut of Automation and Control Vienna University of Technology

关键词： Trajectory Navigation Visualization Collision avoidance Robots computer architecture Ultrasonic variables measurement

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