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2nd IEEE and ACM International Symposium on Mixed and Augmented Reality, ISMAR 2003

作者： Matsushita, Nobuyuki Hihara, Daisuke Ushiro, Teruyuki Yoshimura, Shinichi Rekimoto, Jun Yamamoto, Yoshikazu Interaction Laboratory Sony Computer Science Laboratories Inc. Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan Sony-Kihara Research Center Inc. Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan Department of Science and Technology Keio University Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan

ISBN: (纸本)0769520065

An ID recognition system is described that uses optical beacons and a high-speed image sensor. The ID sensor captures a scene like an ordinary camera and recognizes the ID of a beacon emitted over a long distance. The ID recognition system has three features. The system is robust to changes in the optical environment, e.g. complete darkness, spotlights, and sunlight. It can recognize up to 255 multiple optical beacons simultaneously. Furthermore, it can recognize beacons even over a long distance, e.g. 40 m indoors and 20 m outdoors. Implementation and evaluation of this ID recognition system showed that a mobile augmented reality system can be achieved by combining this ID recognition system with a PDA and a wireless network. © 2003 IEEE.

关键词： Cameras

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humanoid arm motion planning using stereo vision and RRT search

Humanoid arm motion planning using stereo vision and RRT sea...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S. Kagami J. Kuffner K. Nishiwaki K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Agency Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Japan School of Computer Science Carnegie Mellon University USA Department of Mechano-Informatics School of Information Science and Technology University of Tokyo Japan

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and on-line consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (rapidly exploring random trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

关键词： Stereo vision humanoid robots Motion planning humans Technology planning Robot sensing systems Orbital robotics Kinematics computer science Information science

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Online footstep planning for humanoid robots

Online footstep planning for humanoid robots

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Kuffner S. Kagami K. Nishiwaki M. Inaba H. Inoue Department of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Tokyo Japan Japan Science and Technology Corporation Japan School of Information Science and Technology University of Tokyo Tokyo Japan

We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a forward dynamic programming approach is used to compute a footstep sequence to a specified goal location in the environment. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. If successful, the planner returns an optimal sequence of footstep locations according to the cost functions and plausible sets of footstep locations defined. We show results from an experimental implementation of the algorithm running on the H7 humanoid robot. Using a stereo vision system to sense obstacles in the immediate environment and identify a target goal location, the robot updates the current optimal footstep sequence to the goal from its present location.

关键词： humanoid robots Navigation Cost function Strategic planning Design methodology Mobile robots Dynamic programming Stereo vision Robot sensing systems Robot vision systems

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Vision-based 2.5D terrain modeling for humanoid locomotion

Vision-based 2.5D terrain modeling for humanoid locomotion

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Kagami K. Nishiwaki J.J. Kuffner K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Corporation Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan Department of Mechano-lnformatics School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan School of Computer Science Carnegie Mellon University Pittsburgh PA USA

We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.

关键词： Robot kinematics Legged locomotion humanoid robots Mobile robots Robot vision systems Intelligent robots Foot Stereo vision Cameras Robot sensing systems

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Grace: An autonomous robot for the AAAI Robot Challenge

Grace: An autonomous robot for the AAAI Robot Challenge

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作者： Simmons, Reid Goldberg, Dani Goode, Adam Montemerlo, Michael Roy, Nicholas Sellner, Brennan Urmson, Chris Schultz, Alan Abramson, Myriam Adams, William Atrash, Amin Bugajska, Magda Coblenz, Michael MacMahon, Matt Perzanowski, Dennis Horswill, Ian Zubek, Robert Kortenkamp, David Milam, Tod Wolfe, Bryn Maxwell, Bruce Robotics and Computer Science Carnegie Mellon University Pittsburgh PA United States Robotics Institute Carnegie Mellon University Pittsburgh PA United States ACT-R Research Group Human-Computer Interaction Institute Carnegie Mellon University Pittsburgh PA United States Carnegie Mellon University Pittsburgh PA United States Carnegie Mellon Robotics Institute Carnegie Mellon University Pittsburgh PA United States Intelligent Systems Section Navy Ctr. Appl. Res. Artif. Intell. Naval Research Laboratory Washington DC United States George Mason University Fairfax VA United States Naval Research Laboratory Washington DC United States Georgia Institute of Technology Atlanta GA United States School of Computer Science Carnegie Mellon University Pittsburgh PA United States Stanford University Austrian Research Institute for AI NASA Johnson Space Center Stanford CA United States Intelligent Multimodal Multimedia G. Navy Ctr. Appl. Res. Artif. Intell. Naval Research Laboratory Washington DC United States

The article discusses an autonomous robot for the AAAI Robot Challenge. In an attempt to solve as much of the AAAI Robot Challenge as possible, five research institutions representing academia, industry and government integrated their research into a single robot named Grace. The article describes the first-year effort by the Grace team, including not only the various techniques each participant brought to Grace but also the difficult integration effort itself.

关键词： Artificial intelligence

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Predicting Job Performance with a Fuzzy Rule-Based System

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International Journal of Information Technology & Decision Making 2003年第3期2卷 425-444页

作者： J. Philip Craiger Michael D. Coovert Mark S. Teachout Department of Computer Science & Nebraska University Consortium For Information Assurance University of Nebraska at Omaha Omaha NE 68182-0392 USA Tel: (402) 554-3974 Department of Psychology & Institute for Human Performance Decision Making & Cybernetics University of South Florida USA Armstrong Laboratory Brooks Air Force Base TX 78235-5000 USA Currently with USAA Insurance Co.

Classification problems affect all organizations. Important decisions affecting an organization's effectiveness include predicting the success of job applicants and the matching and assignment of individuals from a pool of applicants to available positions. In these situations, linear mathematical models are employed to optimize the allocation of an organization's human resources. Use of linear techniques may be problematic, however, when relationships between predictor and criterion are nonlinear. As an alternative, we developed a fuzzy associative memory (FAM: a rule-based system based on fuzzy sets and logic) and used it to derive predictive (classification) equations composed of measures of job experience and job performance. The data consisted of two job experience factors used to predict measures of job performance for four US Air Force job families. The results indicated a nonlinear relationship between experience and performance for three of the four data sets. The overall classification accuracy was similar for the two systems, although the FAM provided better classification for two of the jobs. We discuss the apparent nonlinear relationships between experience and performance, and the advantages and implications of using these systems to develop and describe behavioral models.

关键词： Fuzzy logic fuzzy set theory fuzzy associative memory behavioral models job performance job experience

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Evaluating the effectiveness of spatial memory in 2D and 3D physical and virtual environments 02

Evaluating the effectiveness of spatial memory in 2D and 3D ...

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SIGCHI Conference on human Factors in Computing Systems: Changing our World, Changing Ourselves, CHI '02

作者： Cockburn, Andy McKenzie, Bruce Department of Computer Science Human-Computer Interaction Lab University of Canterbury Christchurch New Zealand

ISBN: (纸本)1581134533

User interfaces can improve task performance by exploiting the powerful human capabilities for spatial cognition. This opportunity has been demonstrated by many prior experiments. It is tempting to believe that providing greater spatial flexibility-by moving from flat 2D to 3D user interfaces-will further enhance user performance. This paper describes an experiment that investigates the effectiveness of spatial memory in real-world physical models and in equivalent computer-based virtual systems. The different models vary the user's freedom to use depth and perspective in spatial arrangements of images representing web pages. Results show that the subjects' performance deteriorated in both the physical and virtual systems as their freedom to locate items in the third dimension increased. Subjective measures reinforce the performance measures, indicating that users found interfaces with higher dimensions more 'cluttered' and less efficient.

关键词： User interfaces

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Navigation Patterns and Usability of Zoomable User Interfaces with and without an Overview

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ACM Transactions on computer-human interaction 2002年第4期9卷 362-389页

作者： Hornbæk, Kasper Bederson, Benjamin B. Plaisant, Catherine University of Copenhagen Department of Computing Copenhagen Ø Universitetsparken 1 DK-2100 Denmark University of Maryland Department of Computer Science Human-Computer Interaction Laboratory United States

The literature on information visualization establishes the usability of interfaces with an overview of the information space, but for zoomable user interfaces, results are *** compare zoomable user interfaces with and without an overview to understand the navigation patterns and usability of these interfaces. Thirty-two subjects solved navigation and browsing tasks on two maps. We found no difference between interfaces in subjects' ability to solve tasks correctly. Eighty percent of the subjects preferred the interface with an overview, stating that it supported navigation and helped keep track of their position on the map. However, subjects were faster with the interface without an overview when using one of the two maps. We conjecture that this difference was due to the organization of that map in multiple levels, which rendered the overview unnecessary by providing richer navigation cues through semantic zooming. The combination of that map and the interface without an overview also improved subjects' recall of objects on the map. Subjects who switched between the overview and the detail windows used more time, suggesting that integration of overview and detail windows adds complexity and requires additional mental and motor effort. © 2002, ACM. All rights reserved.

关键词： Experimentation human Factors Information visualization levels of detail maps Measurement navigation overview+detail interfaces overviews Performance usability zoomable user interfaces (ZUIs)

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OZONE: A zoomable interface for navigating ontology information 02

OZONE: A zoomable interface for navigating ontology informat...

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Working Conference on Advanced Visual Interfaces, AVI 2002

作者： Suh, Bongwon Bederson, Benjamin B. Human Computer Interaction Laboratory Computer Science Department University of Maryland at College Park College Park MD 20742 United States

ISBN: (纸本)1581135378

We present OZONE (Zoomable Ontology Navigator), for searching and browsing ontological information. OZONE visualizes query conditions and provides interactive, guided browsing for DAML (DARPA Agent Markup Language) ontologies on the Web. To visually represent objects in DAML, we define a visual model for its classes, properties and relationships between them. Properties can be expanded into classes for query refinement. The visual query can be formulated incrementally as users explore class and property structures interactively. Zoomable interface techniques are employed for effective navigation and usability. © 2009 ACM.

关键词： Ontology

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Analysing mouse and pen flick gestures 02

Analysing mouse and pen flick gestures

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3rd ACM SIGCHI NZ Symposium on computer-human interaction, CHINZ 2002

作者： Moyle, Michael Cockburn, Andy Human-Computer Interaction Lab. Department of Computer Science University of Canterbury Christchurch New Zealand

ISBN: (纸本)0473085003

Gesture based interfaces promise to increase the efficiency of user input, particularly in mobile computing where standard input devices such as the mouse and keyboard are impractical. This paper describes an investigation into the low-level physical properties of linear 'flick' gestures that users create using mouse and pen input devices. The study was motivated by our need to determine sensible constraints on values such as the magnitude, timing, and angular accuracy of gestures for a marking-menu implementation. The results show that pen gestures are substantially larger than mouse gestures, that angular errors are larger in the left and right directions with the pen, that vertical gestures are 'awkward' with the mouse, and that downwards gestures are approximately 11% slower than other directions. © 2002 ACM.

关键词： Knobs

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