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IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Tistarelli G. Sandini Department of Communication Computer and Systems Science University of Genoa Genoa Italy

The use of an anthropomorphic, retinalike visual sensor for navigation tasks is investigated. The main advantage, besides the topological scaling and rotation invariance, stems from the considerable data reduction obtained with nonuniform sampling, in conjunction with high resolution in the part of the field of view corresponding to the focus of attention. Active movements are also considered to be a beneficial feature, solving the depth-from-motion problem and maintaining a 3-D representation of the viewed scene. For short range navigation, a tracking egomotion strategy is adopted which greatly simplifies the motion equations and complements the characteristics of the retinal sensor. An algorithm for the computation of depth from motion is developed for image sequences acquired with the retinal sensor, and an error analysis is carried out to determine the uncertainty of range measurements. An experiment is presented in which depth maps are computed from a sequence of images sampled with the retinalike sensor, building a volumetric representation of the scene.< >

关键词： Robot sensing systems Navigation Anthropomorphism Layout Retina Sensor phenomena and characterization Image sensors Nonuniform sampling Focusing Tracking

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THE COMMAND SUPPORT AT-SEA EXPERIMENT

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 25-36页

作者： BUSCHER, DJ SUNDAY, DM David J. Buscher:is an electrical engineer on the Principal Professional Staff of the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He earned his BS degree in electrical engineering from Villanova University in 1967 an MSEE degree from the University of Maryland in 1972 and an MS degree in technical management from The Johns Hopkins University in 1985. He was the lead engineer on the Command Support At-Sea Experiment Project. He started his career in 1967 with the U.S. Army Harry Diamond Laboratory working on computer and communications projects. During this time he worked in Vietnam with the United States Army Vietnam Science Advisor Office. Since joining JHU/APL in 1978 he has worked on a variety of projects associated with computer graphics hospital patient information systems computer networks autonomous underwater vehicles and satellite communications. He is currently assistant group supervisor of the Computer Systems Group. Daniel M. Sunday:is a mathematician on the Principal Professional Staff of the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He earned his Ph.D. in mathematics from the University of Minnesota in 1971 and did postdoctoral research on neural networks at the University of California at Berkeley. Since joining JHU/APL in 1980 Dr. Sunday has worked as a designer and developer of software systems with emphasis on medical imaging interactive graphics natural language interfaces and software standards. He was the network designer for the Headquarters Integrated Office System (HIOS) Network for the Army at the Pentagon. He is currently the lead software engineer on the Command Support At-Sea Experiment Project.

The Command Support At-Sea Experiment (CS@SE) provides experimental advanced graphics display systems consisting of large screen color displays and operator console color displays in the combat information center (CIC) of an Aegis cruiser and in the tactical flag command center (TFCC) of an aircraft carrier. CS@SE systems are designed to prototype potential command support capabilities in an at-sea environment to validate and refine requirements for planned production system upgrades. These systems use sophisticated color graphics techniques to provide real-time tactical displays that improve the availability of information to an operator by reducing clutter through the use of color, area fill, transparen overlays and intensity coding of track symbols. Interfaces wen developed with the Aegis Display System (ADS), Shipboarc Gridlock System with Auto-correlation (SGS/AC), Flag Dats Display System (FDDS) and Tomahawk Engagement Planning and Exercise Evaluation System (TEPEE) that provided the data for the presentation of a tactical display. Display elements included both real-time and over-the-horizon (OTH) surface track data, velocity leaders, tags, uncertainty ellipses, and history trails. The display also included filled land masses, country boundaries, commercial airways, cities, graphics overlays (i.e., operational areas), weapon system missile performance contours, and engagement plans. This paper describes the experiment, its installation and integration into the shipboard environments of an Aegis cruiser (USS Leyte Gulf ) and an aircraft carrier (USS America , its usage by the ships companies and embarked staffs, and the experiment result! and findings. Key conclusions of the experiment are: 1 Advanced graphics color displays can significantly enhance the ability of the warfighter to assimilate a complex tactical display. 2 Both ships reported a requirement for a correlated OTH and real-time track display with the ability to clearly differentiate the two types

关键词： computer Graphics

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3-D OBJECT RECONSTRUCTION USING STEREO AND MOTION

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1989年第6期19卷 1465-1476页

作者： GROSSO, E SANDINI, G TISTARELLI, M Department of Communication Computer and Systems Science University of Genoa Genoa Italy

The extraction of reliable range data from images is investigated, considering, as a possible solution, the integration of different sensor modalities. Two different algorithms are used to obtain independent estimates of depth from a sequence of stereo images. The results are integrated on the basis of the uncertainty of each measure. The stereo algorithm uses a coarse-to-fine control strategy to compute disparity. An algorithm for depth-from-motion is used, exploiting the constraint imposed by active motion of the cameras. To obtain a 3D description of the objects, the motion of the cameras is purposefully controlled, in such a manner as to move around the objects in view while the gaze is directed toward a fixed point in space. This egomotion strategy, which is similar to that adopted by the human visuomotor system, allows a better exploration of partially occluded objects and simplifies the motion equations. When tested on real scenes, the algorithm demonstrated a low sensitivity to image noise, mainly due to the integration of independent measures. An experiment performed on a real scene containing several objects is presented.

关键词： Cameras three dimensional shape control strategy Fixed point algorithms low sensitivity Equations of motion Ocular Fixation image noise Active movement

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Uncertainty analysis in visual motion and depth estimation from active egomotion

Uncertainty analysis in visual motion and depth estimation f...

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Applications of Artificial Intelligence VII 1989

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

In this paper an uncertainty analisys is performed of a system for the estimation of visual motion and depth from known egomotion. The motion strategy of the observer is constrained such as to track the point in space which projects on the image center (the fixation point) during the movement. The estimation of the optic flow is performed in two steps: firstly the velocity field is computed for each image pair at the zero crossing points;secondly the optic flow of a long sequence is obtained by matching corresponding contours between successive images. The model used is analysed and the uncertainty of each partial How is determined on the basis of the independent parameters. The matching between image pairs causes an error propagation in the estimated velocity;a method is proposed to reduce the error using the velocity estimate relative to successive images. In this way the variance of the global flow field (both in magnitude and direction) is determined and it is used to compute the uncertainty in depth. This formulation allows to estimate the precision of the algorithm and the improvement in the accuracy of the measures, which can be achieved varying some key parameters like the number of images used. An experiment, performed on a real image sequence, is presented. © 1989 SPIE. All rights reserved.

关键词： Velocity

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Improving software maintenance skills in an industrial environment 3rd

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3rd SEI Conference on Software Engineering Education, 1989

作者： Collofello, James S. Orn, Mikael Computer Science Department Arizona State University TempeAZ85287 United States AG Communication Systems P.O. Box 52179 PhoenixAZ85027-2179 United States

ISBN: (纸本)9780387970905

Software maintenance activities consume the majority of software life cycle costs in organizations which support a software product over an extended interval of time. These maintenance activities include error corrections as well as enhancements to the software. In addition to being extremely costly, software maintenance activities are very error prone. As a result, if an organization is to improve its productivity and quality, improvements in software maintenance skills would provide an effective return on investment. This paper describes a two-fold approach to improving software maintenance skills which entails a practical "hands-on" training course coupled with performance management focusing on positive reinforcement for new skills. © 1989, Springer Verlag. All rights reserved.

关键词： Error correction

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A Pyramid Based Environment For The Development Of computer Vision Applications

A Pyramid Based Environment For The Development Of Computer ...

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1988 IEEE International Workshop on Intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

作者： Sandini, G. Tistarelli, M. Vernon, D. University of Genoa Department of Communication Computer and Systems Science Via Opera Pia 11A Genoa1- 16145 Italy Department of Computer Science Trinity College University of Dublin Dublin Ireland

One of the major motivations for the implementation of computer vision is the need to develop flexible systems which, through sensory input, can adapt to partially unknown environ-ments or unexpected events. In large scale applications, currcnt approaches require time-consuming tailoring of existing algorithms, exploiting application-dependent constraints, followed eventually by the implementation of specific hardware and software modules. Small and medium scale applications require hardware and software tools, structured as a "development sys-tem to decrease lead-time to implementation by allowing a user to test existing algorithms, implement new application - specific ones, and to experiment with all facets of the development system in the application environment. The conventional solution to the development system problem is to use "libraries" of sub-routines implementing various algorithms. Such an approach is inherently inadequate as it does not facilitate the integration of visual information derived from several modalities or cues (e.g. shading, stereo, motion and texture) and forces the user to configure the vision experiment by linking various quasi -independent software modules. This paper describes a computer vision environment which redresses this situation, providing a system which treats the image data (and its organization) equally with the processing capabilities. Several spatial frequency channels are facilitated using a pyramidal image structure and several levels of image representation are exploited to make the different types of information extracted from the many vision facilities of the system. Furthermore, utility features e.g. such as image system archival and run-time configuration, prototyping, and an interpretive control language, are provided to encourage both interactive experimentation and configuration of target applications. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： computer vision

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Estimation of visual motion and 3d motion parameters from singular points

Estimation of visual motion and 3d motion parameters from si...

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1988 IEEE International Workshop on Intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

作者： DeMichel, J. Swidini, G. Tistardir, M. Torre, V. Department of Physics via Dodecaneso University of Genoa Genoa1-16145 Italy Department of Communication University of Genoa Computer and Systems Science Via Opera Pia 11A Genoa1-16145 Italy

The estimation of visual motion can be based on simple differential methods applied to image brightness, without using complex minimization techniques or exhaustive search for correspondences. A dense, smooth motion field is computed solving a system of linear equations. The properties of the motion field can be studied analyzing the singular points of the field - that is, points where the field is equal to zero or stationary - which, on the other hand, allow the computation of essential 3D motion parameters like object translation and rotation. In some particular, but even quite common cases die estimation of 3D motion is fairly simple as it involves the solution of a simple system of linear equations applied to set of image points. A least square approach, applied to the 2D motion field, has been used to estimate the rotational and translational velocity of real objects or of the moving camera. A series of experiments made on real scenes are presented with some quantitative results. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Parameter estimation

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A Pyramid Based Environment For The Development Of computer Vision Applications

A Pyramid Based Environment For The Development Of Computer ...

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IEEE International Workshop on Intelligent Robots

作者： G. Sandini M. Tistarelli D. Vernon Department of Communication Computer and Systems Science University of Genoa Genoa Italy Trinity College Department of Computer Science University of Dublin Dublin Ireland

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Evaluation of error recovery schemes for a high-speed packet switched network: link-by-link versus edge-to-edge schemes

Evaluation of error recovery schemes for a high-speed packet...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and communications Societies

作者： T. Suda N. Watanabe Department of Information and Computer Science University of California Irvine CA USA NTT Communication Networks Laboratories Musashino Tokyo Japan

An investigation is made of various error recovery schemes for a very-high-speed packet switched network. The schemes investigated are: (1) edge-to-edge recovery, whereby retransmission of erred packets only takes place between source and destination nodes, (2) link-by-link recovery, whereby retransmission only takes place between adjacent switching nodes, and (3) link-edge-combined recovery, using both link-by-link and edge-to-edge schemes. The performance measures are the distribution of transmission delay and error probability of packets across a network. To obtain these measures, the authors develop a tandem queuing network model with feedbacks, where each queue represents a protocol layer within a switching node rather than a switching node as a whole. Numerical results show that for a network with very-high-speed/low-error-rate channels, the edge-to-edge scheme gives the smallest packet transmission delay, while keeping the packet error probability sufficiently small. The only drawback of the edge-to-edge scheme is that it causes network saturation at smaller network traffic load than the older schemes.< >

关键词： Packet switching Protocols Peer to peer computing communication switching computer errors Error probability Routing Error correction High-speed networks computer science

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Estimation Of Visual Motion And 3d Motion Parameters From Singular Points

Estimation Of Visual Motion And 3d Motion Parameters From Si...

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IEEE International Workshop on Intelligent Robots

作者： E. DeMicheli G. Sandini M. Tistarelli V. Torre Department of Physics University of Genoa Genoa Italy Department of Communication Computer and Systems Science University of Genoa Genoa Italy

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