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An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

An overview of the advantages and constraints of coded patte...

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative robotics for Real-World Applications. IROS '97

作者： J. Salvi E. Mouaddib J. Batile Computer Vision and Robotics Group Universitat de Girona Girona Spain Laboratoire des Systkmes Automatiques Universite de Picardie Amiens France

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method.

关键词： Optical sensors Cameras Layout Navigation computer vision Robot vision systems robotics and automation Mobile robots Stereo vision Image sensors

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Measuring bilateral symmetry in digital images

Measuring bilateral symmetry in digital images

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IEEE Region 10 International Conference TENCON

作者： D. O'Mara R. Owens Robotics & Vision Research Group Department of Computer Science University of Western Australia Nedlands WA Australia

An important example of bilateral symmetry in nature is the approximate bilateral symmetry exhibited by humans. Detecting and measuring bilateral symmetry in medical images should provide benefits in a clinical environment. This paper presents a method for detecting the dominant plane of bilateral symmetry in an image of arbitrary dimension and subsequently measuring the degree of bilateral symmetry in the image. By adapting the work of others, we provide a unique solution to the problem by using a simple representation of the data and a more sensitive measure of symmetry.

关键词： Digital images Image edge detection Humans Biomedical imaging Magnetic field measurement Data compression Reflection Medical robotics Robot vision systems Anthropometry

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Model-based objects recognition in man-made environments

Model-based objects recognition in man-made environments

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： J. Marti A. Casals Computer Vision and Robotics Group University of Girona Catalonia Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm.

关键词： Object recognition Object oriented modeling Remotely operated vehicles Mobile robots Navigation Layout Expert systems Shape Image recognition Data mining

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A 3D local energy surface detector for confocal microscope imalges 3

A 3D local energy surface detector for confocal microscope i...

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3rd Australian and New Zealand Conference on Intelligent Information Systems, ANZIIS 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology United States Robotics and Vision Research Group Department of Computer Science University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)0864224303

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature profiles: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters. The filters are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and synthetic 3D image volumes. © 1995 IEEE. All rights reserved.

关键词： Microscopes

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Feature detection using oriented local energy for 3D confocal microscope images 3rd

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3rd International computer Science Conference, ICSC 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology The University of Western Australia NedlandsWA6907 Australia Robotics and Vision Research Group Department of Computer Science The University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)9783540606970

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature types: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters that are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and a synthetic 3D image volume. These results are compared with those from a 3D implementation of the Sobel edge detecto. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Feature extraction

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

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IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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A 3D local energy surface detector for confocal microscope images

A 3D local energy surface detector for confocal microscope i...

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Australian and New Zealand Conference on Intelligent Information Systems

作者： C. Pudney P. Kovesi B. Robbins Biomedical Confocal Microscopy Research Centre Department of Pharmacology University of Western Australia Nedlands WA Australia Robotics and Vision Research Group Department of Computer Science University of Western Australia Nedlands WA Australia

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by M.C. Morrone and R.A. Omens (1987) marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature profiles: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters. The filters are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency space and multiplied by the image's Fourier transform. Results are presented for real confocal images and synthetic 3D image volumes.

关键词： Detectors Microscopy computer vision Filters Data analysis Image analysis Image edge detection Convolution Frequency Fourier transforms

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HYPER - A NEW APPROACH FOR THE RECOGNITION AND POSITIONING OF TWO-DIMENSIONAL OBJECTS

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1986年第1期8卷 44-54页

作者： AYACHE, N FAUGERAS, OD Computer Vision and Robotics Group INRIA 78153 Le Chesnay Cedex France.

A new method has been designed to identify and locate objects lying on a flat surface. The merit of the approach is to provide strong robustness to partial occlusions (due for instance to uneven lighting conditions, shadows, highlights, touching and overlapping objects) thanks to a local and compact description of the objects boundaries and to a new fast recognition method involving generation and recursive evaluation of hypotheses named HYPER (HY potheses Predicted and Evaluated Recursively). The method has been integrated within a vision system coupled to an indutrial robot arm, to provide automatic picking and repositioning of partially overlapping industrial parts.

关键词： computer vision Robot vision systems Object recognition Machine vision Service robots robotics and automation Application software Sensor phenomena and characterization Design methodology Robustness

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Digital Mammography 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Joan Martí Arnau Oliver Jordi Freixenet Robert Martí

ISBN: (数字)9783642136665

ISBN: (纸本)9783642136658

This volume of Springer’s Lecture Notes in computer Science series comprises th the scienti?c proceedings of the 10 International Workshop on Digital Mammography (IWDM), which was held June 16–18, 2010 in Girona, Cata- nia. The IWDMmeetingstraditionallybringtogetheradiversesetofresearchers (physicists, mathematicians, computer scientists, engineers), clinicians (radi- ogists, surgeons) and representatives of industry, who are jointly committed to developing technology, not just for its own sake, but to support clinicians in the early detection and subsequent patient management of breast cancer. The IWDM conference series was initiated at a 1993 meeting of the SPIE Medical Imaging Symposium in San Jose, CA, with subsequent meetings hosted every two yearsbyresearchersaroundthe world. Former workshopswereheld in York, England (1994), Chicago, IL USA (1996), Nijmegen, The Netherlands (1998), Toronto, Canada (2000), Bremen, Germany (2002), Durham, NC, USA (2004), Manchester, UK (2006) and Tucson, AZ USA (2008). Each of these scienti?c events was combined with very successful and focused industrial and research exhibits, which demonstrated the milestones of digital mammography over the years. A total number of 141 paper submissions from 21 countries were received. Each of these four-page abstract submissions was reviewed in a blind process by at least two members of the Scienti?c Committee, which led to a ?nal selection of 46 oral presentations and 57 posters during the two and one-half days of scienti?c sessions.

关键词： Image Processing and computer vision Health Informatics Imaging / Radiology Information Storage and Retrieval Pattern Recognition Computational Biology/Bioinformatics

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