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Automatic classification of breast tissue according BIRADS categories using a clustering approach

International Congress Series 2005年 1281卷 1399-1399页

作者： A. Oliver J. Martí J. Freixenet J. Pont R. Zwiggelaar Computer Vision and Robotics Group University of Girona Spain University Hospital Doctor Josep Trueta Girona Spain Department of Computer Science University of Aberystwyth UK

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3D simultaneous localization and modeling from stereo vision

3D simultaneous localization and modeling from stereo vision

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Garcia A. Solanas Intelligent Robotics and Computer Vision Group /Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain

This work presents a new algorithm for determining the trajectory of a mobile robot and, simultaneously, creating a detailed volumetric 3D model of its workspace. The algorithm exclusively utilizes information provided by a single stereo vision system, avoiding thus the use both of more costly laser systems and error-prone odometry. Six-degrees-of-freedom egomotion is directly estimated from images acquired at relatively close positions along the robot's path. Thus, the algorithm can deal with both planar and uneven terrain in a natural way, without requiring extra processing stages or additional orientation sensors. The 3D model is based on an octree that encapsulates clouds of 3D points obtained through stereo vision, which are integrated after each egomotion stage. Every point has three spatial coordinates referred to a single frame, as well as true-color components. The spatial location of those points is continuously improved as new images are acquired and integrated into the model.

关键词： Stereo vision Simultaneous localization and mapping Robot kinematics Robot sensing systems Mobile robots Intelligent robots Robot vision systems Laser modes Mathematical model computer vision

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Coordinated multi-robot exploration through unsupervised clustering of unknown space

Coordinated multi-robot exploration through unsupervised clu...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Solanas M.A. Garcia Intelligent Robotics and Computer Vision Group/Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain

This paper proposes a new coordination algorithm for efficiently exploring an unknown environment with a team of mobile robots. The proposed technique subsequently applies a well-known unsupervised clustering algorithm (k-means) in order to fairly divide the remaining unknown space into as many disjoint regions as available robots. Each robot is primarily responsible for exploring its assigned region and can help other robots on its way through. Unknown space is dynamically repartitioned as new areas are discovered by the team, balancing thus the overall workload among team members and naturally leading to greater dispersion over the environment and thus faster broad coverage than with previous greedy-like approaches, which guide robots based on maximum profit strategies that simply trade off between distance to the closest frontiers and amount of unknown cells likely to be discovered from them.

关键词： Robot kinematics Orbital robotics Robot sensing systems Mobile robots Space technology Intelligent robots Layout computer science Mathematics Clustering algorithms

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A review of sensor fusion techniques for underwater vehicle navigation

A review of sensor fusion techniques for underwater vehicle ...

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OCEANS

作者： T. Nicosevici R. Garcia M. Carreras M. Villanueva Computer Vision and Robotics Group Institute of Informatics and Applicaitons University of Gironn E.P.S. Girona Spain

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors.

关键词： Sensor fusion Underwater vehicles Navigation Robot sensing systems Acoustic sensors Sensor systems Intelligent sensors Mobile robots Oceans Global Positioning System

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Actuator fault detection in autonomous helicopters

Actuator fault detection in autonomous helicopters

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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Heredia, G. Remuß, Volker Ollero, A. Mahtani, R. Musial, Marek Robotics Computer Vision and Intelligent Control Group Dept. Ingeniería de Sistemas y Automática University of Seville Camino de los Descubrimientos s/n Seville41092 Spain Technical University of Berlin Einsteinufer 17 BerlinD-10587 Germany

This paper presents an actuator fault detection and diagnosis system for autonomous helicopters. The system has been tested with the MARVIN autonomous helicopter. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The effectiveness of the proposed approach is demonstrated by means of MARVIN experimental results and simulations. © 2004 IFAC

关键词： Unmanned aerial vehicles (UAV)

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Proposal of a parallel architecture for a motion detection algorithm

Proposal of a parallel architecture for a motion detection a...

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International Conference on Pattern Recognition

作者： V. Ila R. Garcia F. Charot Computer Vision and Robotics Group Institute of Informatics and Applications Girona Spain Institute de Recherche en Informatique et en Systemes Aleatoires Rennes France

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed.

关键词： Proposals Parallel architectures Motion detection Motion estimation Image processing computer architecture computer vision Robot vision systems Cameras Application software

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Actuator fault detection in autonomous helicopters

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IFAC Proceedings Volumes 2004年第8期37卷 579-584页

作者： G. Heredia Volker Remufß A. Ollero R. Mahtani Marek Musial Robotics Computer Vision and Intelligent Control Group Dept. Ingeniería de Sistemasy Automática University of Seville Camino de los Descubrimientos s/n 41092 Seville Spain Institut für Technische Informatik und Mikroelektronik (TIME) Technical University of Berlin Einsteinufer 17 D-10587 Berlin Germany

关键词： Fault detection fault diagnosis autonomous helicopters UAV actuators

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A review of image segmentation techniques integrating region and boundary information

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Advances in Imaging and Electron Physics 2003年 120卷 1-39页

作者： Cufí, X. Muñoz, X. Freixenet, J. Martí, J. Computer Vision and Robotics Group IA-IliA University of Girona 17071 Girona Spain

ISBN: (纸本)0120147629

Several key segmentation techniques integrating region information and boundary information were reviewed. A classification of cooperative segmentation techniques was proposed, and described several algorithms with the aim of pointing out their strengths and weaknesses. The intention of integrating complementary information from the image may follow, it seems that a considerable improvement in segmentation could result from the fusion of color, texture, and boundary information. A hybrid strategy between embedded and postprocessing may be a solution for some of the previously mentioned typical weak points. An embedded algorithm permits the adequate placement of the seeds in an optimal position, and a result with regions free of holes may be obtained. A posteriori fusion with boundary information could refine the segmentation, improving the resulting boundaries.

关键词： Image segmentation

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

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The Fourteenth International Offshore and Polar Engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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ROV-aided dam inspection: Practical results 6

ROV-aided dam inspection: Practical results

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6th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2003

作者： Batlle, Joao Nicosevici, Tudor Garcia, Rafael Carreras, Marc Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona E.P.S. Girona17071 Spain

Nowadays Unmanned Underwater Vehicles (UlNs) are used in a growing number of underwater missions, mostly inspections of different types of installations such as: telecommunication cables, pipes or oil extraction installations. A field where UUVs are still starting to prove their utility is dam inspection. This paper presents details our first approach in dam inspection. A set of experiments carried out at a dam in Romania is described. Advantages and drawbacks of using a small-class underwater vehicle are analyzed for this type of missions. Copyright © 2003 IFAC

关键词： computer vision

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