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IEEE International Conference on robotics and Automation (ICRA)

作者： S.K. Nayar K. Ikeuchi T. Kanade Department of Computer Science Columbia University New York NY USA The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

An algorithm for recovering the shape and reflectance of Lambertian surfaces in the presence of interreflections is presented. The surfaces may be of arbitrary but continuous shape, and with possibly varying and unknown reflectance. The actual shape and reflectance are recovered from the pseudoshape and pseudoreflectance estimated by a local shape-from-intensity method (e.g., photometric stereo). Thus, the algorithm enhances the performance and the utility of existing shape-from-intensity methods. From the results reported, two observations can be made that are pertinent to machine vision: interreflections can cause vision algorithms to produce unacceptably erroneous results and hence should not be ignored; and at least some interreflection problems are tractable and solvable.< >

关键词： Shape Layout Reflectivity Photometry Iterative algorithms Inverse problems Graphics computer science Robots Robustness

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Image-based homing

Image-based homing

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Hong X. Tan B. Pinette R. Weiss E.M. Riseman Robotics Research Laboratory Courant Institute New York University New York NY USA Computer and Information Science Department University of Massachusetts Amherst Amherst MA USA

A system that allows a robot to acquire a model of its environment and to use this model to navigate is described. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring target locations. Features of the approach include an imaging system that acquires a compact, 360 degrees representation of the environment and an image-based, qualitative homing algorithm that allows the robot to navigate without explicitly inferring three-dimensional structure from the image. The results of an experiment in a typical indoor environment are described, and its argued that image-based navigation is a feasible alternative to approaches using three-dimensional models.< >

关键词： Navigation Mobile robots Contracts Indoor environments Cultural differences Marine vehicles Solid modeling Military computing Information science Data mining

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DETERMINING SHAPE AND REFLECTANCE OF HYBRID SURFACES BY PHOTOMETRIC SAMPLING

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1990年第4期6卷 418-431页

作者： NAYAR, SK IKEUCHI, K KANADE, T Department of Electrical and Computer Engineering and the Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and the Robotics Institute Carnegie Mellon University Pittsburgh PA USA

A method is presented for determining the shapes of hybrid surfaces without prior knowledge of the relative strengths of the Lambertian and specular components of reflection. The object surface is illuminated using extended light sources and is viewed from a single direction. Surface illumination using extended sources makes it possible to ensure the detection of both Lambertian and specular reflections. Uniformly distributed source directions are used to obtain an image sequence of the object. This method of obtaining photometric measurements is called photometric sampling. An extraction algorithm uses the set of image intensity values measured at each surface point to compute orientation as well as relative strengths of the Lambertian and specular reflection components. The simultaneous recovery of shape and reflectance parameters enables the method to adapt to variations in reflectance properties from one scene point to another. Experiments were conducted on Lambertian surfaces, specular surfaces, and hybrid surfaces.< >

关键词： Shape Reflectivity Photometry Sampling methods Optical reflection Rough surfaces Surface roughness Machine vision Acoustic reflection Robots

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Implementing persistence of derived information in a reason maintenance system 2nd

Implementing persistence of derived information in a reason ...

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2nd International Conference on Knowledge Based computer Systems, KBCS 1989

作者： Kulkarni, Dattatraya H. Parameswaran, N. Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering Indian Institute of Technology Madras600 036 India

ISBN: (纸本)9783540528500

Class of deductions where their conclusions persist even though some components of justification are no more valid, pose some difficulty in reasoning about change. A partial solution is found in the notion called inessentiality of a component of a justification to its conclusion. The frame axiom to deduce the persistence of a sentence using the notion of inessentiality is accommodated within the framework of Reason Maintenance System (RMS), by modifying the definition of IN-ness of a node and its current-support. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Maintenance

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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...

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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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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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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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Parallel multiscale stereo matching using adaptive smoothing 1st

Parallel multiscale stereo matching using adaptive smoothing

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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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Contact point detection for grasping of an unknown object using joint compliance

Contact point detection for grasping of an unknown object us...

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

作者： Kaneko, Makoto Tanie, Kazuo Computer Science and System Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka-shi Fukuoka820 Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Namiki 1-2 Tsukuba-shi Ibaraki305 Japan

This paper focuses on a scheme for searching for a contact point between a multifmgered hand and an unknown object. Instead of mounting a attributed tactile sensor all over the finger links, we propose an active touch approach using joint compliance from the viewpoint of considerably reduced hardware improvement. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a finger link is in contact with the object. The other is the detection phase, in which each finger posture is changed with slip while maintaining Contact between object and finger. Using two selected postures during the detection phase we can compute the intersecting point which leads to an approximate contact point. With a suitable combination of compliant joints and position-controlled joints, a finger link has the capability of changing its posture while maintaining contact with an object over a small angular displacement at a particular joint. This motion is essential in the contact point detection phase. The proposed algorithm is confirmed through simple experiments using a two-fingered robot hand. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Object detection

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

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

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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

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： W. Paetsch M. Kaneko Department of Control Engeneering Control Systems Theory and Robotics Section Technical University of Darmstadt Germany Computer Science and System Engeneering Kyushu Institute of Technology Iizuka Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is 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 can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >

关键词： Grippers Control systems Robot sensing systems Space technology Force control Fingers Orbital robotics Computational modeling computer simulation Grasping

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