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CVGIP-IMAGE UNDERSTANDING 1992年第1期56卷 108-129页

作者： TISTARELLI, M SANDINI, G Department of Communication Computer and Systems Science Integrated Laboratory for Advanced Robotics (LIRA-Lab) University of Genoa Via Opera Pia 11A-16145 Genoa Italy

The term active stresses the role of the motion or, generally speaking, the dynamic interaction of the observer with the environment. This concept emphasizes the relevance of determining scene properties from the temporal evolution of image features. Within the active vision approach, two different aspects are considered: the advantages of space-variant vision for dynamic visual processing and the qualitative analysis of optical flow. A space-variant sampling of the image plane has many good properties in relation to active vision. In particular, two examples are presented in which a log-polar representation is used for active vergence control and to estimate the time-to-impact during tracking egomotion. These are just two modules which could fit into a complete active vision system, but already highlight the advantages of space-variant sensing within the active vision paradigm. In the second part of the paper the extraction of qualitative properties from the optical flow is discussed. A new methodology is proposed in which optical flows are analyzed in terms of anomalies as unexpected velocity patterns or inconsistencies with respect to some predicted dynamic feature. Two kinds of knowledge are necessary: about the dynamic of the scene (for example, the approximate motion of the camera) and about the task to be accomplished, which is analogous to (qualitatively) knowing the kind of scene I would expect to see. The first simply implies the measurement of some motion parameters (for example, with inertial sensors) directly on the camera, or to put some constraints in the egomotion. The second requirement implies that the visual process is task-driven. Some examples are presented in which the method is successfully applied to robotic tasks.

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Cortical maps for motor planning

Cortical maps for motor planning

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1992 RNNS/IEEE Symposium on Neuroinformatics and Neurocomputers, RNNS 1992

作者： Sanguineti, V. Moraso, P. Department of Communication Computer and Systems Science University of Genoa Via Opera Pia 11a Genoa16145 Italy

ISBN: (纸本)0780308093

A distributed computational architecture for the motor planning functions is explored. It combines a paradigm of self-organization (for building robust and coherent maps of the different motor spaces) with relaxation dynamics (for run-time incorporation of task constraints). The model, named SOBoS (Self-Organizing Body Schema), is illustrated with simulation results. Unlike other attempts to use self-organizing techniques for learning sensory-motor mappings, SOBoS can overcome the redundancy problem by learning, during exploratory movements, the direct motor space transformations (which are always well-defined) instead of the inverse ones (which are ill-defined for redundant systems) and by performing, during planning, a relaxation in a potential landscape determined by a combination of multiple task-dependent constraints. The model can initiate actual movements, by supplying the cerebral motor cortex and the cerebellar cortex with the necessary planning patterns, or can support mental simulations with an accurate reproduction of spatial and temporal patterns. © 1992 IEEE.

关键词： Cell proliferation

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ACTIVE DYNAMIC STEREO FOR NAVIGATION 2nd

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2ND EUROPEAN CONF ON computer VISION ( ECCV 92 )

作者： GROSSO, E TISTARELLI, M SANDINI, G University of Genoa Department of Communication Computer and Systems Science Integrated Laboratory for Advanced Robotics (LIRA-Lab) Via Opera Pia 11A Genoa 16145 Italy

ISBN: (纸本)3540554262

Stereo vision and motion analysis have been frequently used to infer scene structure and to control the movement of a mobile vehicle or a robot arm. Unfortunately, when considered separately, these methods present intrinsic difficulties and a simple fusion of the respective results has been proved to be insufficient in practice. The paper presents a cooperative schema in which the binocular disparity is computed for corresponding points in several stereo frames and it is used, together with optical flow, to compute the time-to-impact. The formulation of the problem takes into account translation of the stereo set-up and rotation of the cameras while tracking an environmental point and performing one degree of freedom active vergence control. Experiments on a stereo sequence from a real scene are presented and discussed. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Stereo vision

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Analysis of the Effectiveness of System Error Messages in a Human-Machine Travel Planning Task 2

Analysis of the Effectiveness of System Error Messages in a ...

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2nd International Conference on Spoken Language Processing, ICSLP 1992

作者： Hunnicutt, Sheri Hirschman, Lynette Polifroni, Joseph Seneff, Stephanie Department of Speech Communication and Music Acoustics Royal Institute of Technology Box 70014 Stockholms-10044 Sweden Spoken Language Systems Group Laboratory for Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

We present an experiment in human-machine spoken language interaction to determine whether subjects made use of diagnostic error messages. These experiments were performed within an air travel domain, using data from 40 subjects who were asked to solve travel planning scenarios by querying a database of airline schedules and fares. A human transcriber typed input to a natural language back-end, which did the remainder of the processing. When the back-end could not process the input, it issued one of several types of diagnostic message, flagging an unknown word, a sequence it couldn't parse, or a failure to retrieve information from the database. First, we classified each error message as to whether it was used to rephrase the following query;second, we determined whether the set of error messages in a discourse segment led to eventual recovery (defined as getting an answer to the original query). Our analysis showed that speakers almost always (86% of the time) made use of the error message in forming their next query. The analysis also showed that subjects could recover (get an answer to their query) in most cases (79%), even though they received an initial error message. We then discuss the effects of a more aggressive understanding strategy, and the problems of error detection and correction in a fully automated system which uses automatic speech recognition rather than a human transcriber. © 1992 2nd International Conference on Spoken Language Processing, ICSLP 1992. All rights reserved.

关键词： Automation

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Cortical maps for motor planning

Cortical maps for motor planning

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International Symposium on Neuroinformatics and Neurocomputers

作者： V. Sanguineti P. Moraso Department of Communication Computer and Systems Science University of Genova Genoa Italy Dept. of Commun. Comput. & Syst. Sci. Genoa Univ. Italy

关键词： Universal motors Distributed computing Humans Biological neural networks Education Logic arrays computer architecture Buildings Robustness Runtime

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Structural stability aspects of alternate routing in non-hierarchical networks under reservation

Structural stability aspects of alternate routing in non-hie...

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[Conference Record] GLOBECOM '92 - communications for Global Users: IEEE

作者： J. Kaniyil N. Hagiya S. Shimamoto Y. Onozato S. Noguchi Department of Communication and Systems University of Electro-Communications Tokyo Japan Dept. of Commun. & Syst. Univ. of Electro-Commun Tokyo Japan Department of Computer Science Gunma University Kiryu Gunma Japan

A behavioral characterization of nonhierarchical alternate routing schemes in which a certain number of trunks are reserved for direct routed traffic is presented. It is found that the fundamental behavioral characteristic of the schemes with trunk reservation control is the same as that of the schemes without reservation. A sufficient condition, which can be utilized to find the minimum number of trunks to be reserved for direct routed traffic so as to avoid the instability, obtained. Although the sufficient condition allows absolute stability of the system from the point of view of catastrophe theory, the designer may select a lower number of trunks to be reserved, provided that the stable equilibrium states remain close to each other. A performance index for comparing various levels of reservations among themselves is proposed.< >

关键词： Structural engineering Routing Intelligent networks Sufficient conditions Stability Traffic control computer science Numerical analysis Performance analysis Telecommunication traffic

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3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

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CONF ON GEOMETRIC METHODS IN computer VISION

作者： GROSSO, E SANDINI, G TISTARELLI, M University of Genoa Department of Communication Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA - Lab) Via Opera Pia hA Genova 16145 Italy

ISBN: (纸本)0819406988

The paper presents some theoretical results useful in 3D reconstruction from disparity stereo maps. A practical implementation of the theory confirms the possibility of computing a fast spatial transposition of the observed scene without passing through an explicit computation of depth maps. Moreover, as the stereo pair moves controlling the vergence and maintaining the fixation point, it is possible to integrate spatial information and to refine gradually a simple volumetric model of the scene. A straight generalization of the approach suggests the introduction of the horopters theory, which is discussed in its weak and strong aspects. Some basic ideas related to the active vision paradigm are proposed and some experimental results on real data are presented. © 1991 SPIE. All rights reserved.

关键词： Stereo image processing

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A neural framework for robot motor planning

A neural framework for robot motor planning

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： S. Pagliano V. Sanguineti P. Morasso DIST-Department of Communication Computer and Systems Science LIRA-Integrated Laboratory of Advanced Robotics University of Genoa Genoa Italy

A computational model is proposed for trajectory planning of redundant robots starting from studies about synergy generation in human motor system. Based on the passive motion paradigm (PMP), i.e., on an analogic mechanism, the model shows a good representational power and is able to manage several robot motor planning problems. Such a connectionist model shows analogies with several neural network paradigms, in particular relaxation, and can be expressed in terms of neuron-like processing elements.< >

关键词： Robots Power system planning Motion planning Power system modeling Computational modeling Trajectory Humans Portable media players Energy management Power system management

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Towards vision guided manipulation

Towards vision guided manipulation

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International Conference on Advanced Robotics (ICAR)

作者： F. Gandolfo G. Sandini M. Tistarelli Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

One of the major problems in the realisation of a really autonomous robotic system, has certainly been the impossibility of being provided with perfect a priori information. The authors propose an architecture integrating sensory skills both as an aid to the manipulation process and as a means to extract information from the scene. The vision based self-calibration is described together with the first steps in closing the control loop with vision.< >

关键词： Robot sensing systems Layout Monitoring Data mining Robotic assembly Feature extraction Robot vision systems Proposals Sensor phenomena and characterization Laboratories

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Grasping strategies for reconstructed unknown 3D objects

Grasping strategies for reconstructed unknown 3D objects

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： E. Grosso G. Vercelli Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the voxels into an octree representation. At the end of the reconstruction process, this kind of 'essential' information can be used to choose the right pre-shaping and to coordinate the arm and the hand motion towards the pre-shaping position, in order to realize a stable grasp. Some preliminary results are shown.< >

关键词： Layout Robot kinematics Grasping Machine vision Orbital robotics Solid modeling Data mining Merging Laboratories Shape

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