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Single Cluster PHD SLAM: Application to Autonomous Underwater Vehicles using Stereo vision

Single Cluster PHD SLAM: Application to Autonomous Underwate...

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Oceans 2013 - Norway

作者： Sharad Nagappa Narcis Palomeras Chee Sing Lee Nuno Gracias Daniel E. Clark Joaquim Salvi Computer Vision and Robotics Group University of Girona Joint Research Institute in Signal and Image Processing Heriot-Watt University

ISBN: (纸本)9781479900022

This paper considers the application of feature-based simultaneous localisation and mapping (SLAM) using a random finite sets (RFS) framework for an autonomous underwater vehicle. SLAM allows for reduction in localisation error by tracking features which provide a fixed external reference. The SLAM problem is addressed here using a single-cluster probability hypothesis density (PHD) filter. The filter uses a particle approximation for the vehicle position with a conditional Gaussian mixture PHD for the feature map. Map features are selected as unique point features generated from a stereo camera on-board the vehicle. We demonstrate the improvement in localisation applying the algorithm to a dataset obtained in an indoor test tank.

关键词： Autonomous underwater vehicles Stereoviews supersonic low altitude missile underwater vehicles Automatic vehicle location Stereo cameras simultaneous localization and mapping

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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Felipe Cid Jose Augusto Prado Pablo Bustos Pedro Nunez Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363563

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Imitation approach emotion context of affective Human Robot Interaction

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Match Elimination using Cycle Basis in Underwater Optical Mapping

Match Elimination using Cycle Basis in Underwater Optical Ma...

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Oceans 2013 - Norway

作者： Armagan Elibol Jinwhan Kim Son-Cheol Yu Nuno Gracias Rafael Garcia Division of Ocean Systems Engineering Dept. of Creative IT Excellence Eng. POSTECH Computer Vision and Robotics Group University of Girona

ISBN: (纸本)9781479900022

The use of image mosaicing methods for underwater optical mapping has become very popular owing to the rapid progress in obtaining optical data using robotic platforms. In order to obtain globally consistent mosaics, one of the essential steps is global alignment for finding best image registration parameters, which employs non-linear optimisation methods to minimise the error metric defined over correspondences detected between overlapping image pairs. In this paper, we propose a method that uses graph theory principles to reduce the total number of overlapping image pairs used in the global alignment process without degrading the final mosaic quality. This reduction allows for obtaining image mosaics with reduced computational cost and time. The method is validated through two experiments that involve challenging underwater datasets.

关键词： global alignment image stitching Underwater image registration Graph theory optical Mosaic mosaic pattern MAPPING(MATHEMATICAL)

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Fuzzy Decision Support System for the Determination of the Set Points of Relevant Variables in the Virgin Olive Oil Elaboration Process

Fuzzy Decision Support System for the Determination of the S...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： P. Cano Marchal D. Martinez Gila J. Gámez Garcia J. Gómez Ortega Robotics Automation and Computer Vision Group University of Jaén. Agrifood Campus of International Excellence (ceiA3). Jaén Spain

ISBN: (纸本)9781479906505

The virgin olive oil elaboration process (VOOEP) is an industrial process whose control relies heavily in the knowledge of experts. In this paper, the basis of a fuzzy expert system for the determination of the set points of the VOOEP which uses inputs from the expert operator is presented, and a system is constructed and validated based on the knowledge of expert operators of the process. The expert system is built based on the decomposition of the original problem into three sub-problems, deriving a subsystem for each of them. Besides, a notion of maximum attainable quality estimate and a paste preparation variable are introduced.

关键词： Olive Oil Fuzzy Expert System fuzzy expert system Olive Oil decision support systems Set of points Professional personnel accuracy class Caste determination Sex Determination Processes Industrial processes original problem Expert System SUB-SYSTEM

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Control system of the malaxing state for the olive paste based on computer vision and fuzzy logic

Control system of the malaxing state for the olive paste bas...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： D. Martinez Gila P. Cano Marchal J. Gámez Garcia J. Gómez Ortega Robotics Automation and Computer Vision Group University of Jaén. Agrifood Campus of International Excellence (ceiA3) Campus Las Lagunillas s/n. 23071 Jaén. Spain.

ISBN: (纸本)9781479906505

The olive paste preparation is one of the most important task within the olive oil elaboration process. It greatly determines the quality of the obtained oil, and imposes an upper bound on the achievable extraction yield. Currently, the malaxing state control of the olive paste is performed by the master miller, who observes periodically the paste inside the thermomixer and acts on variables manually. In this paper, the implementation of a new methodology to control the malaxing state of the olive paste is presented. The methodology is based on a software sensor that obtains some olive paste features from the acquired images inside the thermomixer, such as granularity, presence of floating oil and viscosity. This software sensor is formed by two camera devices, and it is coded by image processing algorithms from textural and color information. Concretely, the grey level co-ocurrence matrix and the segmentation method based on threshold, were employed. Also, a fuzzy controller was designed to act automatically on the thermomixer variables. This controller is based on the master miller expert knowledge, and it allows to adjust the malaxing time needed to prepare the olive paste to the minimum value. This fact supposes a significative improvement in the energy consumption of the plant.

关键词： olive paste malaxing state fuzzy logic computer vision thermomixer images computer vision Fuzzy logic Pastes olive control systems

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Online sunflicker removal using dynamic texture prediction

Online sunflicker removal using dynamic texture prediction

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International Conference on computer vision Theory and Applications, VISAPP 2012

作者： Shihavuddin, A.S.M. Gracias, Nuno Garcia, Rafael Computer Vision and Robotics Group Universitat de Girona Girona Spain

ISBN: (纸本)9789898565037

An underwater vision system operating in shallow water faces unique challenges, which often degrade the quality of the acquired data. One of these challenges is the sunflicker effect, created from refracted sunlight casting fast moving patterns on the seafloor. Surprisingly few previous works exist to address this topic. The best performing available method mitigates the sunflickering effect using offline motion compensated filtering. In the present work, we propose an online sunflicker removal method targeted at producing better registration accuracy. The illumination field of the sunflicker effect is considered as a dynamic texture, since it produces repetitive dynamic patterns. With that assumption, the dynamic model of the sunflicker is learned from the registered illumination fields of the previous frames and is used for predicting that of the next coming frame. Such prediction allows for removing the sunflicker patterns from the new frame and successfully register it against previous frames. Comparative results are presented using challenging test sequences which illustrate the better performance of the approach against the closest related method in the literature.

关键词： Forecasting

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Digital sand model using virtual reality workbench

Digital sand model using virtual reality workbench

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2012 International Conference on computer Communication and Informatics, ICCCI 2012

作者： Syed, Imran A. Nageli, V.S. Sangeeta, S. Rakshit, S. Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore India

ISBN: (纸本)9781457715822

Sand models as used in military are thematic 3D representations of an area of interest which combined the information of maps with a more realistic 3D bird's eye view of the terrain. Sand models have been used for military planning and war gaming for many years as a field expedient, small-scale map, for planning and training of military operations. This, however increasingly fell out of favor with improved maps, aerial and satellite photography, and later, with digital terrain simulations. The proposed system, a Digital Sand Model (DSM) using a Virtual Reality (VR) Workbench, is a digital replica of the same. It involves a leader interacting with the digital environment and other viewers share his view of the digital scene. The system uses a stereoscopic projector, a mirror and Viewing Screen setup to produce a 3D stereoscopic display. This VR system allows performing interactive 3D explorations via stereo camera setup and wearable IR LEDs. A gesture recognition system is also described which allows interaction with the system. The proposed system uses Model-View-Controller (MVC) architecture as the software design. © 2012 IEEE.

关键词： Software design

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Project-based learning as a motivating tool to teach computer vision

Project-based learning as a motivating tool to teach compute...

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2012 IEEE Global Engineering Education Conference, EDUCON 2012

作者： Garcia, Rafael Gracias, Nuno Computer Vision and Robotics Group University of Girona Edif. P-IV E-17003 Spain

This paper addresses the challenge of developing techniques for the effective teaching of computer vision. It reports on the experience of using the technique of project-based learning as a motivating method for teaching computer vision strategies within the context of a Master's program module in Visual Perception at the University of Girona (Spain). Students were asked to generate projects which involved the use of invariant features, i.e. algorithms to detect and describe local features in images. Within this project-based context, students were encouraged to search for information resources that would accompany their project ideas. Every student team was supervised by a tutoring instructor and periodic meetings were scheduled during this six-week project to follow their progress. © 2012 IEEE.

关键词： computer vision

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Mapping the Moon: Using a lightweight AUV to survey the site of the 17th century ship ‘La Lune’

Mapping the Moon: Using a lightweight AUV to survey the site...

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OCEANS - Europe

作者： Nuno Gracias Pere Ridao Rafael Garcia Javier Escartín Michel L'Hour Franca Cibecchini Ricard Campos Marc Carreras David Ribas Narcís Palomeras Lluis Magi Albert Palomer Tudor Nicosevici Ricard Prados Ramon Hegedüs Laszlo Neumann Francesco de Filippo Angelos Mallios Computer Vision and Robotics Group University of Girona Spain Equipe de Géosciences Marines IPGP University of Paris Diderot France Équipe de Géosciences Marines IPGP Univ. Paris Diderot France DRASSM Marseille France Max Planck Institute for Informatics Saarbrücken Germany ICREA Barcelona Spain Università della Calabria Italy

This paper describes the use of a research-driven, highly reconfigurable autonomous underwater vehicle for surveying the site of the historical shipwreck of La Lune. This wreck, from the XVII century, lies in 90m of water near the coast of Toulon in France. The goal of this survey was to create a fast but detailed map of the site, to serve as a base map for subsequent archaeological intervention. The paper overviews the survey setup and the methods used to generate a high resolution optical map. It also highlights some of the important advantages that lightweight AUVs present for archaeological survey missions in terms of operational costs, survey time, the quality of both the acquired data and the mapping outcome, and access to deep sites that are not reachable by traditional archaeological methods.

关键词： Marine vehicles Vehicles Optical sensors Navigation Cameras Optical imaging

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OUR-CVFH - Oriented, unique and repeatable clustered viewpoint feature histogram for object recognition and 6DOF pose estimation

OUR-CVFH - Oriented, unique and repeatable clustered viewpoi...

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Joint 34th Symposium of the German Association for Pattern Recognition, DAGM 2012 and 36th Symposium of the Austrian Association for Pattern Recognition, OAGM 2012

作者： Aldoma, Aitor Tombari, Federico Rusu, Radu Bogdan Vincze, Markus Vision4Robotics Group ACIN Vienna University of Technology Austria Computer Vision Lab. DEIS - ARCES University of Bologna Italy Open Perception Inc. United States

ISBN: (纸本)9783642327162

We propose a novel method to estimate a unique and repeatable reference frame in the context of 3D object recognition from a single viewpoint based on global descriptors. We show that the ability of defining a robust reference frame on both model and scene views allows creating descriptive global representations of the object view, with the beneficial effect of enhancing the spatial descriptiveness of the feature and its ability to recognize objects by means of a simple nearest neighbor classifier computed on the descriptor space. Moreover, the definition of repeatable directions can be deployed to efficiently retrieve the 6DOF pose of the objects in a scene. We experimentally demonstrate the effectiveness of the proposed method on a dataset including 23 scenes acquired with the Microsoft Kinect sensor and 25 full-3D models by comparing the proposed approach with state-of-the-art global descriptors. A substantial improvement is presented regarding accuracy in recognition and 6DOF pose estimation, as well as in terms of computational performance. © 2012 Springer-Verlag.

关键词： Object recognition

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