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International Conference on Pattern Recognition

作者： X. Cufi X. Munoz J. Freixenet J. Marti Computer Vision and Robotics Group University of Girona Spain

ISBN: (纸本)0769507506

Image segmentation of natural scenes constitutes a major problem in machine vision. This paper presents a new proposal for the image segmentation problem which has been based on the integration of edge and region information. This approach begins by detecting the main contours of the scene which are later used to guide a concurrent set of growing processes. A previous analysis of the seed pixels permits adjustment of the homogeneity criterion to the region's characteristics during the growing process. Since the high variability of regions representing outdoor scenes makes the classical homogeneity criteria useless, a new homogeneity criterion based on clustering analysis and convex hull construction is proposed. Experimental results have proven the reliability of the proposed approach.

关键词： Image segmentation Image edge detection Layout Proposals Clustering algorithms computer vision Robot vision systems Machine vision Data mining Merging

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A new approach to segmentation based on fusing circumscribed contours, region growing and clustering

A new approach to segmentation based on fusing circumscribed...

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IEEE International Conference on Image Processing

作者： X. Munoz X. Cufi J. Freixenet J. Marti Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Catalonia Spain

ISBN: (纸本)0780362977

One of the major problems in machine vision is the segmentation of images of natural scenes. This paper presents a new proposal for the image segmentation problem which has been based on the integration of edge and region information. The main contours of the scene are detected and used to guide the posterior region growing process. The algorithm places a number of seeds at both sides of a contour allowing stating a set of concurrent growing processes. A previous analysis of the seeds permits to adjust the homogeneity criterion to the regions's characteristics. A new homogeneity criterion based on clustering analysis and convex hull construction is proposed.

关键词： Image segmentation Image edge detection Layout Clustering algorithms computer vision Robot vision systems Informatics Application software Machine vision Proposals

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Use of decision trees in colour feature selection. Application to object recognition in outdoor scenes

Use of decision trees in colour feature selection. Applicati...

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IEEE International Conference on Image Processing

作者： J. Freixenet X. Llado J. Marti X. Cufi Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Catalonia Spain

A new method for the automated selection of colour features is described. The algorithm consists of two stages of processing. In the first, a complete set of colour features is calculated for every object of interest in an image. In the second stage, each object is mapped into several n-dimensional feature spaces in order to select the feature set with the smallest variables able to discriminate the remaining objects. The evaluation of the discrimination power for each concrete subset of features is performed by means of decision trees composed of linear discrimination functions. This method can provide valuable help in outdoor scene analysis where no colour space has been demonstrated as being the most suitable. Experiment results recognizing objects in outdoor scenes are reported.

关键词： Decision trees Object recognition Layout Application software Geometry computer vision Robot vision systems robotics and automation Informatics Concrete

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Image Mosaicking for Estimating the Motion of an Underwater Vehicle

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IFAC Proceedings Volumes 2000年第21期33卷 147-152页

作者： Rafael García Xevi Cufí Lluís Pacheco Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Escola Politecnica Superior 17071 Girona Spain

A composite image constructed by combining a set of smaller images is known as mosaic. Mosaics of the ocean floor are very useful in undersea exploration, creation of visual maps, navigation, etc. A feature-based mosaicking method is proposed, based on textural parameters of certain parts of the image. Textures significantly help in the identification of given features of the image. The tracking of these features over time solves the matching problem in consecutive frames. The correspondence is established with the aid of a cross-correlation algorithm, applied to the colour components of the image in the HSI space. Once the correspondence has been found a displacement vector is obtained relating the features of two images of the sequence. The motion parameters between consecutive frames are estimated through an error minimisation technique. Once the best transformation between two frames has been found, images are warped together composing the mosaic, and information about the vehicle motion is recovered. The experimental results on real images show the effectiveness of the proposed method.

关键词： computer vision Motion estimation Autonomous vehicles Image registration Robot navigation Marine Systems

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Map building with ultrasonic sensors of indoor environments using neural networks

Map building with ultrasonic sensors of indoor environments ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： F.J. Toledo J.D. Luis L.M. Tomas M.A. Zamora H. Martinez Department of Computer Science and Elect University de Murcia Murcia Spain Vision and Robotics Group University of Murcia Murcia Spain

Map building and position estimation are basic tasks in mobile robot navigation with path planning. A method to generate a global map of the vehicle work environment using ultrasonic sensors is developed in this paper. Depending on the physical properties of the walls that form the room where the robot is navigating, sonar sensors show different behaviours. A neural network is utilized to interpret the range readings of ultrasonic sensors in the different environments. A local map composed of squared cells is formed through the neural network that gives the occupancy probabilities for each cell. Finally, a global map is built achieving integration of different views of the environment using Bayes' rule. Results of the method implementation in the construction in a specular environment as well as in rough wall environments are shown in this paper.

关键词： Indoor environments Neural networks Robot sensing systems Reflection Mobile robots Sonar navigation Path planning Robustness Testing Sonar measurements

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Object detection using colour

Object detection using colour

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International Conference on Pattern Recognition

作者： N. Duffy J. Crowley G. Lacey Projet PRIMA INRIA-Rhones-Aples Montbonnot France Computer Vision and Robotics Group Trinity College Dublin Dublin Ireland

ISBN: (纸本)0769507506

Presents a method to detect objects in images using colour. The system learns by example how characteristic each discrete colour is of a class of objects using two sets of training images; one set is of images known to contain at least one target object, while the other set is of images known to be free of the target objects. Using the training images a lookup table is constructed, in which each discrete colour is assigned a value which approximates the probability that pixels with this discrete colour are part of a target object. This table is called the colour profile. To detect the presence of target objects in a new image the colour profile values are back projected onto the image and the image is thresholded. A suitable threshold is calculated automatically and the system is able to recognize if the target objects are not able to be distinguished by the colour profile method. Applying the colour profiling approach to a difficult inspection task has shown it to be a robust, accurate and fast solution.

关键词： Object detection Histograms Pixel Inspection Color computer vision Robot vision systems Educational institutions Target recognition Robustness

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Friendly interface for objects selection in a robotized kitchen

Friendly interface for objects selection in a robotized kitc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Casals X. Cufi J. Freixenet J. Marti X. Munoz Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain Computer Vision and Robotics Group EIA-IIiA University of Girona Catalonia Spain

This paper presents an interface for the interaction between a human and an adapted kitchen where different elements, including a robot, have to be controlled. After the global structure of the interface is described a more detailed explanation is presented on the way the interface offers the user an easy and friendly way to select the desired objects and to provide their position to the robot for their manipulation.

关键词： robotics and automation Robot vision systems computer vision Control engineering computing Human robot interaction Automatic control Research and development Ergonomics Cameras Layout

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Reducing the complexity of geometric selective disassembly

Reducing the complexity of geometric selective disassembly

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.A. Garcia A. Larre B. Lopez A. Oller Department of Computer Science and Mathematics Intelligent Robotics and Computer Vision Group Tarragona Spain Department of Electrical Electronic and Automation Engineering Rovira i Virgili University Tarragona Spain

This paper presents an efficient technique for determining a low-cost disassembly sequence suitable to extract a subset of s components from an assembly containing n components, e of which are exterior (e/spl Lt/n). The most efficient solution to this so-called geometric selective disassembly problem is the wave propagation algorithm, which is reported to have a computational complexity of O(sn/sup 2/). Instead, the complexity of the proposed algorithm is O(enlogn) when s/spl Lt/n, and O(sn) when s/spl sime/n. Experimental results with synthetic 3D assemblies are presented.

关键词： Assembly Intelligent robots robotics and automation Computational complexity Recycling Fasteners Polynomials Costs Robot vision systems computer vision

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Omni-directional vision for robot navigation

Omni-directional vision for robot navigation

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IEEE Workshop on Omnidirectional vision

作者： N. Winters J. Gaspar G. Lacey J. Santos-Victor Computer Vision and Robotics Group. Department of Computer Science University of Dublin Dublin Ireland Instituto Superior Técnico Lisboa Portugal Instituto de Sistemas e Robotica Instituto Superior Tecnico Lisboa Portugal

We describe a method for visual based robot navigation with a single omni-directional (catadioptic) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot's qualitative global position, estimated from a set of omni-directional images obtained during a training stage (compressed using PCA). To deal with illumination changes, an eigenspace approximation to the Hausdorff measure is exploited. We present a method to transform omni-directional images to Bird's Eye Views that correspond to scaled orthographic views of the ground plane. These images are used to locally control the orientation of the robot, through visual servoing. Visual Path Following is used to accurately control the robot along a prescribed trajectory, by using bird's eye views to track landmarks on the ground plane. Due to the simplified geometry of these images, the robot's pose can be estimated easily and used for accurate trajectory following. Omni-directional images facilitate landmark based navigation, since landmarks remain visible in all images, as opposed to a small field-of-view standard camera. Also, omni-directional images provide the means of having adequate representations to support both accurate or qualitative navigation. Results are described in the paper.

关键词： Robot vision systems Navigation Cameras Image coding Principal component analysis Lighting Visual servoing Robot control Trajectory Computational geometry

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An Overview on Behaviour-Based Methods for AUV Control

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IFAC Proceedings Volumes 2000年第21期33卷 141-146页

作者： M. Carreras J. Batlle P. Ridao G.N. Roberts Computer Vision and Robotics Group University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP20 5XR UK

Traditionally, deliberative reasoning methods based on a world model have been used to guide Autonomous Vehicles. Nevertheless, due to serious problems when dealing with complex and changing environments the alternative approach of reactive architectures appeared, directly coupling perception and action without any world representation. This paper describes the characteristics and variants of reactive architectures as well as four of the most suitable ones to guide Autonomous Underwater Vehicles: Schema-based approach, Subsumption, Process Description Language and Action Selection Dynamics. Each architecture is described and evaluated using an underwater simulator with an AUV model.

关键词： Autonomous Vehicles Artificial Intelligence Control Systems Marine Systems Robot navigation Vehicle Simulation

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