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 calculate...
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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.
作者：
BOHM, SELHAKEEM, AKHACHICHA, MDepartment of Electrical and Computer Engineering
Concordia University 1455 De Maisonneuve Blvd. West Montreal H3A 1M8 Canada Was born in Montreal
Canada on 14 September 1966. He received the B. Eng. degree in electrical engineering from Concordia University Montreal Canada in 1989. He is at present completing the M.A.Sc. degree in electrical engineering at Concordia University. (S'75–S'79–M'79–SM'86) received the Ph.D. degree from Southern Methodist University
Dallas TX in 1979. He spent the next two years working as a Visiting Professor in Egypt after which he moved to Ottawa Canada in 1982. He assumed teaching and research positions in Carleton and Manitoba Univerities and later moved to Concordia University Montreal Canada in 1983 where he is now a Professor in the Electrical and Computer Engineering Department. He has published numerous papers in IEEE and international journals in the areas of spread spectrum and networking. He is a well-known expert in these areas and serves as a consultant to many companies. His current research interests include wide-band metropolitan networks switching architectures and performance of on-board multibeam satellites acquisitionless CDMA networks code distribution and orthogonalization of CDMA signals responsive congestion control for ATM-based networks ARQ techniques and investigation of the novel SUGAR CDMA systems in fading channels. Dr. Elhakeem is a Senior Member of the Canadian Electrical Engineering Society and Armed Forces Association. He has chaired numerous technical sessions in IEEE Conferences was the Technical Program Chairman for IEEE Montech 1986 Montreal Canada. Dr. Elhakeem is the key guest editor of theIEEE Journal of Selected Areas in Communicationsfor the May June issues 1993 covering CDMA networks. Advanced Technology & Networks
VISTAR Telecommunications Inc. Ottawa Ontario K1G 3J4 Canada An Associate Director of Advanced Technology & Networks Group
VISTAR Telecommunications Inc. Ottawa Canada. He is also an Adjunct Pr
In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, ...
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In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, file transfer and interactive data. The prioritized switch uses both input and output buffering, switch speed-up as well as a two-phase head-of-line resolution algorithm, in order to reduce the buffer loss while maintaining acceptable user delays. The minimum required buffer capacity and switch speed-up for each service in a prioritized environment are found under uniform traffic conditions. It is shown that under uniform traffic conditions, only minimal buffering and switch speed-up are needed even for the lowest priority users. The performance dependence on the switch size is also substantially reduced with head of line resolution and buffering even in a prioritized environment.
The 2009 International Conference on Web Information Systems and Mining (WISM 2009) was held in Shanghai, China 7–8 November 2009. WISM 2009 received 598 submissions from 20 countries and regions. After rigorous revi...
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ISBN:
(数字)9783642052507
ISBN:
(纸本)9783642052491
The 2009 International Conference on Web Information Systems and Mining (WISM 2009) was held in Shanghai, China 7–8 November 2009. WISM 2009 received 598 submissions from 20 countries and regions. After rigorous reviews, 61 high-quality papers were selected for publication in this volume. The acceptance rate was 10.2%. The aim of WISM 2009 was to bring together researchers working in many diff- ent areas of Web information systems and Web mining to foster exchange of new ideas and promote international collaborations. In addition to the large number of submitted papers and invited sessions, there were several internationally well-known keynote speeches. On behalf of the Organizing Committee, we thank the Shanghai University of El- tric Power for its sponsorship and logistics support. We also thank the members of the Organizing Committee and the program Committee for their hard work. We are very grateful to the keynote speakers, invited session organizers, session chairs, reviewers, and student helpers. Last but not least, we thank all the authors and participants for their great contributions that made this conference possible. November 2009 Wenyin Liu Xiangfeng Luo Fu Lee Wang Jingsheng Lei Organization Organizing Committee General Co-chairs Jialin Cao Shanghai University of Electric Power, China Jingsheng Lei Hainan University, China program Committee Co-chairs Wenyin Liu City University of Hong Kong, Hong Kong Xiangfeng Luo Shanghai University, China Local Arrangements Chair Hao Zhang Shanghai University of Electric Power, China
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