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Use of monocular groupings and occlusion analysis in a hierarchical stereo system

Use of monocular groupings and occlusion analysis in a hiera...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： R.C. Chung R. Nevatia Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be a major problem in stereo analysis and is often not treated explicitly. An analysis is presented of occlusion effects in stereo, and it is shown how structural descriptions can be used to deal with them. Experimental results are given for scenes with curved objects and significant occlusions.< >

关键词： Layout intelligent robots Surface treatment Stereo image processing Image reconstruction intelligent systems intelligent structures Hierarchical systems Monitoring Contracts

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Temporal slice analysis of image sequences

Temporal slice analysis of image sequences

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： S.-L. Peng Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

An early-processing algorithm to extract motion information from closely sampled image sequences is presented. This method outputs dense displacement field, based on the extraction of strips in slices taken from the image volume along the temporal dimension. The extracted strips provide estimates of the velocity component along the slice orientation. Because of the high sampling rate, the motion is assumed to be piecewisely translational. A voting scheme to estimate the position of FOE while extracting strips is proposed. The true velocity can then be calculated. Results on several real image sequences and a promising speedup from the parallel implementation on the Connection Machine are presented.< >

关键词： Image analysis Image sequence analysis Image sequences Image motion analysis Cameras Data mining Strips intelligent robots intelligent systems Image sampling

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Flow equivalent nets for the performance analysis of generalized stochastic Petri nets

Flow equivalent nets for the performance analysis of general...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Jungnitz A.A. Desrochers Center for Intelligent Robotics for Space Exploration (CIRSSE) Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The reduction of the state space of generalized stochastic Petri net (GSPN) models is discussed. For a certain class of GSPNs it is possible to analyze subnets in isolation by keeping the number of tokens in the net constant. The authors construct a flow equivalent net (FEN), which has the same temporal and input/output properties of the original net, but with a strongly reduced state space. The FEN is substituted back into the complement of the original net.< >

关键词： Performance analysis Stochastic processes Petri nets State-space methods Stochastic systems intelligent robots Coupled mode analysis System recovery Orbital robotics Space exploration

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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An extended object model for the design and development of expert systems

An extended object model for the design and development of e...

引用

1990 ACM SIGBDP Conference on Trends and Directions in Expert systems, SIGBDP 1990

作者： Biswas, Pratik K. Department of Computer Science Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306-4019 United States

ISBN: (纸本)0897914163

An Extended Object Model (XOM) is p resented for the design and development of knowledge based systems. A set of operations is defined on the object model. The model is used in designing the conceptual schema of an expert system. The set of XOM operations is shown to be complete in an expert system developing environment based on our proposed conceptual schema. Finally an example is presented to illustrate the organization of an expert system, developed in such an environment. © 1990 ACM.

关键词： Expert systems

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Parallel multiscale stereo matching using adaptive smoothing 1st

Parallel multiscale stereo matching using adaptive smoothing

引用

1st European Conference on computer Vision, ECCV 1990

作者： Chen, Jer-Sen Medioni, Gérard University of Southern California Institute for Robotics and Intelligent Systems Los AngelesCA90089-0273 United States Wright State University Department of Computer Science and Engineering DaytonOH45435 United States

ISBN: (纸本)9783540525226

We present a multiscale stereo algorithm whose design makes it easily implemented on a fine grain parallel architecture. The matching at a given scale is performed in accordance with the algorithm proposed by Drumheller and Poggio, using edges as primitives. Using multiple scales is in general difficult and costly because of the correspondence problem between scales, but this problem is solved here using adaptive smoothing, a process which preserves edge location at different scales. The results are better than those obtained at a single scale, and the algorithm runs in a few seconds on a Connection Machine. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Parallel architectures

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

IROS: an intelligent rehabilitative orthotic system for cere...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： S. Lee A. Agah G. Bekey Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >

关键词： intelligent systems Orthotics Medical treatment Machine intelligence Humans Real time systems Graphics Exoskeletons Extremities Man machine systems

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

引用

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

作者： Paetsch, W. Kaneko, M. Technical University of Darmstadt Department of Control Engeneering Control Systems Theory and Robotics Section Germany Kyushu Institute of Technology Computer Science and System Engeneering Kawazu 680-4 Iizuka820 Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper will be used to develop and evaluate different approaches of stable grasping and object manipulation. First results of the control of the gripper on joint level as well as the cartesian behaviour of the fingers and some results and experiences with first grasping and manipulation experiments using the presented system are reported. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Grippers

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Shape description from imperfect and incomplete data

Shape description from imperfect and incomplete data

引用

International Conference on Pattern Recognition

作者： K. Rao R. Nevatia Image Understanding Branch Computer Science Center Texas Instruments Inc. Dallas TX USA Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Usually, shape description systems assume that a scene has been segmented into objects and that object boundaries are given. This, however, is not realistic when working with intensity images; the resulting boundaries are fragmented and contain surface markings, and shadow and noise boundaries. A system is described which works with such input and computes shape descriptions of complex objects. Scene segmentation takes place through shape description. Generalized cones or, more precisely, their 2D analogs of ribbons are used as the basic shape representation scheme. Results for synthetic and real examples are shown. The output of the system is useful for object recognition, learning, further inference of 3D shape, grasping, and navigation.< >

关键词： Shape Layout Image segmentation intelligent robots Noise shaping Object recognition Navigation intelligent systems computer science Instruments

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