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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene.

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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vision-based monitoring of weaving sections

Vision-based monitoring of weaving sections

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International Conference on Intelligent Transportation

作者： O. Masoud N.P. Papanikolopoulos E. Kwon Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Center for Transportation Studies University of Minnesota Minneapolis MN USA

This paper presents algorithms for vision-based monitoring of weaving sections. These algorithms have been developed for the Minnesota department of Transportation in order to acquire data for several weaving sections in the Twin Cities Area. Unlike commercially available systems, the proposed algorithms can track and count vehicles as they change lanes. Furthermore, they provide the velocity and the direction of each vehicle in the weaving section. Experimental results from various weaving sections with various weather conditions are presented. The proposed methods are based on the establishment of correspondences among blobs and vehicles as the vehicles move through the weaving section. The blob tracking problem is formulated as a bipartite graph optimization problem.

关键词： Weaving Traffic control computerized monitoring Road vehicles Road transportation Vehicle detection Data mining Space vehicles Layout Artificial intelligence

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Microcalcification evaluation in computer assisted diagnosis for digital mammography

Microcalcification evaluation in computer assisted diagnosis...

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IEE Colloquium on Medical Applications of Signal Processing (Ref. No. 1999/107)

作者： J. Marti J. Batlle X. Cufi J. Espanol Computer Vision and Robotics Group-Institute of Iniormatics and ApplicationsL University of Girona Girona Spain Department of Oncology University Hospital Dr. Josep Trueta Girona Spain

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Pose alignment of an eye-in-hand system using image morphing

Pose alignment of an eye-in-hand system using image morphing

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Positioning an eye-in-hand robotic system with respect to a static target is a challenging research problem since it involves recognition of the object and the desired pose at which alignment is to occur, planning a trajectory for the robot to attain this pose, and careful calibration of the system and the environment. In this paper we introduce a unified framework based on image morphing, to address the above problems and apply it to the task of translational and rotational alignment of an eye-in-hand system to planar objects or planar projections of 3D objects. In our method the desired manipulator pose for each object is defined and stored as a view of the object taken from this pose. The identity of an unknown object in the workspace is established by morphing its image to the views in the database, and using a quantification of the morph as a dissimilarity measure. The synthetic images generated during the morph are used guide an eye-in-hand system to the desired pose. The framework can accommodate partially occluded or deformable targets and smooth trajectories can be generated since an arbitrary number of intermediate images can be used.

关键词： Calibration Robot vision systems Error correction Trajectory Artificial intelligence Intelligent robots Laboratories computer science Target recognition Image databases

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Letter-level shape description by skeletonization in faded documents

Letter-level shape description by skeletonization in faded d...

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IEEE Workshop on Applications of computer vision (WACV)

作者： R. Singh M.C. Wade N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We present a method for determining the skeletal shape description for letters in texts faded due to ageing and/or poor ink quality. The proposed algorithm is interesting in that it neither involves assumptions about demarcation of object regions from the background, nor does it require pixel connectivity in the text regions. Consequently, it may be applied for obtaining the shape descriptions of "sparse" regions, which are characteristic of letters in faded documents. Given the pixel distribution for a letter or a word from a faded document, the method involves an iterative evolution of a piecewise-linear approximation of the principal curve of this pixel distribution. By constraining the principal curve to lie on the edges of the Delaunay triangulation of the shape distribution, the adjacency relationships between regions in the shape can be detected and used in evolving the skeleton. The approximation of the principal curve, on convergence, gives the final skeletal shape. The skeletonization is invariant to Euclidean transformations and is adaptive in terms of the topology of the underlying shape distribution as well as in the number of units needed for the piece-wise approximation of the principal curve.

关键词： Shape Skeleton Text analysis Degradation Aging Artificial intelligence Intelligent robots Robot vision systems Laboratories Ink

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New generation of multirobot systems

New generation of multirobot systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Information invariants for distributed manipulation

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INTERNATIONAL JOURNAL OF robotics RESEARCH 1997年第5期16卷 673-702页

作者： Donald, BR Jennings, J Rus, D Robotics and Vision Laboratory Department of Computer Science Cornell University Ithaca New York USA

In Donald (1995), we described a manipulation task for cooperating mobile robots that can push large, heavy objects. There, we asked whether explicit local and global communication between the agents can be removed from a family of pushing protocols. In this article, we answer in the affirmative. We do so by using the general methods of Donald (1995), analyzing information invariants. We discuss several measures for the information complexity of the task: (I) How much internal state should the robot retain? (2) How many cooperating agents are required, and how much communication between them is necessary? (3) How can the robot change (side effect) the environment to record state or sensory information for performing a task? (4) How much information is provided by sensors? and (5) How much computation is required by the robot? To answer these questions, we develop a notion of information invariants. We develop a technique whereby one sensor can be constructed from others by adding, deleting and reallocating I) through 5), among collaborating autonomous agents. We add a resource to measures I) through 5) and ask: 6) How much information is provided by the task mechanics? By answering this question, we hope to develop information invariants that explicitly tradeoff resource 6) with resources I) through 5). The protocols we describe here have been implemented in several different forms, and we report on experiments to measure and analyze information invariants using a pair of cooperating mobile robots for manipulation experiments in our laboratory.

关键词： Agents pushing Global communication Sensors Invariant Robot Mobile robots

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Robust pedestrian tracking using a model-based approach

Robust pedestrian tracking using a model-based approach

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International Conference on Intelligent Transportation

作者： O. Masoud N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

This paper presents a real-time system for pedestrian tracking in sequences of grayscale images acquired by a stationary CCD camera. The objective is to integrate this system with a pedestrian control scheme for intersections. The system outputs the spatio-temporal coordinates of each pedestrian during the period the pedestrian is in the scene. Processing is done at three levels: raw images, blobs, and pedestrians. Our method models pedestrians as rectangular patches with a certain dynamic behavior. Kalman filtering is used to estimate pedestrian parameters. The system was implemented on a Datacube MaxVideo 20 equipped with a Datacube Max860 and was able to achieve a peak performance of over 20 frames per second. Experimental results based on indoor and outdoor scenes demonstrated the system's robustness under many difficult situations such as partial and full occlusions of pedestrians.

关键词： Robustness Layout Real time systems Gray-scale Charge coupled devices Charge-coupled image sensors Control systems Kalman filters Filtering Parameter estimation

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Recognition of 2D shapes through contour metamorphosis

Recognition of 2D shapes through contour metamorphosis

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Singh I. Pavlidis N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA

A novel method for 2D shape recognition is proposed. The method employs as a dissimilarity measure the degree of morphing between a test shape and a reference shape. A physics-based approach substantiates the degree of morphing as a deformation energy and casts the problem as an energy minimization problem. The method operates upon key segmentation points that are provided by an appropriate segmentation algorithm. The recognition paradigm is invariant to translation, rotation, and scaling. It can handle both convex and non-convex shapes. The proposed system exhibits robust recognition behavior and real-time performance in a series of experiments. The experiments also highlight the ability of the method to recognize deformable shapes.

关键词： Shape Wire Testing Defense industry Image recognition Optical character recognition software Character recognition Animation Artificial intelligence Intelligent robots

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