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

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

Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object manipulation and robot navigation. In particular the monitoring of pushing and tapping actions by means of dynamic measurements performed on image sequences are reported. The experiments show that, not only it seems possible to detect unexpected events, but it is possible to control the arm or vehicle trajectory in such a way to achieve a complex task like the pushing of an unknown object along a predetermined trajectory.< >

关键词： Monitoring Robot vision systems Robot control Navigation Vehicle dynamics Particle measurements Performance evaluation Image sequences Object detection Event detection

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Integrating force-fields methods in a robot planning/programming language

Integrating force-fields methods in a robot planning/program...

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International Conference on Advanced Robotics (ICAR)

作者： P. Franchi P. Morasso G. Vercelli R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

In advanced robotic applications which involve unstructured and cluttered environments, highly redundant robots are considered very useful because they allow one to negotiate obstacles and various kinds of constraints. The price, however, is the increased complexity of the planning and control tasks. In this paper the authors present a prototype of a robotic task planning system that integrates an analogical planner, based on relaxation networks (M-Nets), with a robot planning/programming language (NEM++). M-nets are a parallel and distributed architecture which operates via relaxation in a similar way to a Hopfield net for generating synergies of motor commands in polyarticulated robotic structures.< >

关键词： computer languages Object oriented modeling Robot programming Mobile robots Kinematics Equations Biological system modeling Application software Prototypes Parallel robots

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Preliminary experiments of visuo-motor integration in pushing tasks

Preliminary experiments of visuo-motor integration in pushin...

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

作者： P. Franchi F. Gandolfo G. Casalino P. Morasso G. Sandini R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.< >

关键词： Robot sensing systems Trajectory Layout Artificial intelligence Strategic planning Orbital robotics Motion planning Feedback Shape Power system planning

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Direct estimation of time-to-impact from optical flow

Direct estimation of time-to-impact from optical flow

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Workshop on Visual Motion

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

The estimation of time to impact is of vital importance for animals as well as for autonomous robots. The optical flow is used to estimate the time to impact. The authors demonstrate that the motion equations that relate the egomotion and/or the motion of the objects in the scene to the optical flow are considerably simplified if the velocity is represented in a polar or log-polar coordinate system, as opposed to a Cartesian representation. In the former case, the time-to-impact can be directly computed from the velocity field and its derivatives. The analysis takes place considering a tracking egomotion, but is then generalized to arbitrary sensor and object motion. The main result stems from the abundance of equations that can be written directly relating the optical flow, represented in a polar or log-polar coordinate system, with the time-to-impact. Experiments performed on images acquired from real scenes are presented.< >

关键词： Image motion analysis Optical sensors Robot kinematics Layout Robot sensing systems Retina Tracking Motion analysis Equations Optical computing

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A practical implementation of a multilevel architecture for vision-based navigation

A practical implementation of a multilevel architecture for ...

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International Conference on Advanced Robotics (ICAR)

作者： F. Ferrari M. Fossa E. Grosso M. Magrassi G. Sandini Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

The paper summarizes the current work of the DIST-University of Genoa in the field of mobile robotic control. In particular the authors describe the implementation of a multilevel architecture for navigation, based on a stereo vision system, which allows obstacle avoidance, detection of free corridors and low level planning by means of few known landmarks such as color spots or vertical edges. Each level is, in principle, independent from the others. Appropriate motor actions are carried out combining the parallel behavior of the different levels.< >

关键词： Navigation computer architecture Mobile robots Robot vision systems Layout Vehicle safety Mobile communication computer vision Laboratories Telephony

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Dynamic stereo in visual navigation

Dynamic stereo in visual navigation

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Conference on computer Vision and Pattern Recognition (CVPR)

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

A cooperative schema is proposed in which binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both time-to-impact and depth scaled by the distance of the camera from the fixation point in space are considered as good, relative measurements which are based on the viewer (but centered on the environment). Two experiments, performed on image sequences from real scenes, are presented.< >

关键词： Navigation Robot kinematics Orbital robotics Layout Stereo vision Calibration Cameras Robustness Vehicle safety Motion analysis

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ROLE OF SIMULATION IN RAPID PROTOTYPING FOR CONCEPT DEVELOPMENT

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NAVAL ENGINEERS JOURNAL 1991年第3期103卷 204-211页

作者： KING, JF BARTON, DE J. Fred King:is the manager of the Advanced Technology Department for Unisys in Reston Virginia. He earned his Ph.D. in mathematics from the University of Houston in 1977. He has been principal investigator of research projects in knowledge engineering pattern recognition and heuristic problem-solving. Efforts include the development of a multi-temporal multispectral classifier for identifying graincrops using LANDSAT satellite imagery data for NASA. Also as a member of the research team for a NCI study with Baylor College of Medicine and NASA he helped develop techniques for detection of carcinoma using multispectral microphotometer scans of lung tissue. He established and became technical director of the AI Laboratory for Ford Aerospace where he developed expert scheduling modeling and knowledge acquisition systems for NASA. Since joining Unisys in 1985 he has led the development of object-oriented programming environments blackboard architectures data fusion techniques using neural networks and intelligent data base systems. Douglas E. Barton:is manager of Logistics Information Systems for Unisys in Reston Virginia. He earned his B.A. degree in computer science from the College of William and Mary in 1978 and did postgraduate work in London as a Drapers Company scholar. Since joining Unisys in 1981 his work has concentrated on program management and software engineering of large scale data base management systems and design and implementation of knowledge-based systems in planning and logistics. As chairman of the Logistics Data Subcommittee of the National Security Industrial Association (NSIA) he led an industry initiative which examined concepts in knowledge-based systems in military logistics. His responsibilities also include evaluation development and tailoring of software engineering standards and procedures for data base and knowledge-based systems. He is currently program manager of the Navigation Information Management System which provides support to the Fleet Ballistic Missile Progr

A valuable technique during concept development is rapid prototyping of software for key design components. This approach is particularly useful when the optimum design approach is not readily apparent or several known alternatives need to be rapidly evaluated. A problem inherent in rapid prototyping is the lack of a "target system" with which to interface. Some alternatives are to develop test driver libraries, integrate the prototype with an existing working simulator, or build one for the specific problem. This paper presents a unique approach to concept development using rapid prototyping for concept development and scenario-based simulation for concept verification. The rapid prototyping environment, derived from artificial intelligence technology, is based on a blackboard architecture. The rapid prototype simulation capability is provided through an object-oriented modeling environment. It is shown how both simulation and blackboard technologies are used collectively to rapidly gain insight into a tenacious problem. A specific example will be discussed where this approach was used to evolve the logic of a mission controller for an autonomous underwater vehicle.

关键词： Military Engineering

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ESTIMATION OF DEPTH FROM MOTION USING AN ANTHROPOMORPHIC VISUAL SENSOR

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IMAGE AND VISION COMPUTING 1990年第4期8卷 271-278页

作者： TISTARELLI, M SANDINI, G University of Genoa Department of Communication Computer and Systems Science Via Opera Pia 11A 116145 Genoa Italy

The application of an anthropomorphic, retina-like visual sensor for optical flow and depth estimation is presented. The main advantage, obtained with the non-uniform sampling, is considerable data reduction, while a high spatial resolution is preserved in the part of the field of view corresponding to the focus of attention. As for depth estimation, a tracking egomotion strategy is adopted which greatly simplifies the motion equations, and naturally fits with the characteristics of the retinal sensor (the displacement is smaller wherever the image resolution is higher). A quantitative error analysis is carried out, determining the uncertainty of range measurements. An experiment, performed on a real image sequence, is presented.

关键词： DEPTH ESTIMATION EGOMOTION STRATEGY MOTION RETINAL SENSOR ACTIVE VISION

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Visually guided operations in green-houses

Visually guided operations in green-houses

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Sandini, G. Buemi, F. Massa, M. Zuechini, M. Department of Communication Computer and Systems Science University of Genoa Italy

A vision system to operate in a greenhouse environment designed Tor tomato cultivation is presented. The signals sent by two PAL colour cameras are processed by a Graphic Workstation using a bit-slice microprocessor card for fast image processing. Cultural operations have been examined and the proper vision system specifications have been defined. Attention is turned on two aspects: localization of main objects (e.g. flowers, fruits) and navigation. As far as localization is concerned, an algorithm has been developed based on colour and particularly on the hue component (extracted 3 times per second from a RGB input) for segmentation and on a stereo processing to find the distance of segmented objects. Results are good enough to demonstrate the feasibility of such an approach. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Specifications

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On the estimation of depth from motion using an anthropomrphic visual sensor 1st

On the estimation of depth from motion using an anthropomrph...

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1st European Conference on computer Vision, ECCV 1990

作者： Tistarelli, Massimo Sandini, Giulio University of Genoa Department of Communication Computer and Systems Science Via Opera Pia 11A Genoa116145 Italy

ISBN: (纸本)9783540525226

In this paper the application of an anthropomorphic, retina—like visual sensor for optical flow and depth estimation, is presented. The main advantage, obtained with the non — uniform sampling, is the considerable data reduction, while a high spatial resolution is preserved in the part of the field of view corresponding to the focus of attention. As for depth estimation a tracking egomotion strategy is adopted which greatly simplifies the motion equations, and naturally fits with the characteristics of the retinal sensor (the displacement is smaller wherever the image resolution is higher). A quantitative error analysis is carryed out, determining the uncertainty of range measurements. An experiment, performed on a real image sequence, is presented. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Image resolution

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