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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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High-speed extraction of 3D structure of selectable quality using a translating camera

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computer vision AND IMAGE UNDERSTANDING 1996年第1期64卷 97-110页

作者： Dalmia, AK Trivedi, M Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee 37996-2100

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds, This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera, Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, interframe camera displacement, and number of frames in a stream are chosen to control the resolution, depth of field, and accuracy, The acquisition and processing of the image stream are done in real time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the system's accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between image acquisition and processing. The total acquisition and processing time in these experiments is in the range from 0.27 to 1.56 s. The depth results have an accuracy of 85% to 92%. (C) 1996 Academic Press, Inc.

关键词： computer vision

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

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An alternative differential gradient edge contrast operator suitable for use within high speed pyramid-based imaging systems

An alternative differential gradient edge contrast operator ...

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IEEE International Joint Symposia on Intelligence and Systems

作者： W.D. Toczyski N.P. Papanikolopoulos Department of Computer ScienceArtificial Intelligence Robotics and Vision Laboratory University of Minnesota Minneapolis MN USA

Numerous edge operators, kernels and directional filters have been proposed, and edge detection is a well-established and mature area of computer vision. Despite this, in developing a real-time, pyramid-based imaging system, inadequacies in the standard, commonly used techniques have lead us to implement an alternate set of simple directional filters that combine to act as an edge contrast operator fulfilling the familiar requirements for: (1) speed, and (2) a high localization of response. Within our application, this operator set is proving superior to the classical kernels at preserving the key requirement (2) as the operator's edge response energies are propagated up to pyramid levels of lower resolution for further recursive processing. Our scheme is shown to provide an unified response to both step and line edge types, and acceptable responses in the presence of anticipated noise levels. The method is direct and of low complexity and general utility.

关键词： Kernel Filters Image edge detection Artificial intelligence Intelligent robots Robot vision systems Laboratories computer science computer vision Real time systems

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Measuring bilateral symmetry in digital images

Measuring bilateral symmetry in digital images

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IEEE Region 10 International Conference TENCON

作者： D. O'Mara R. Owens Robotics & Vision Research Group Department of Computer Science University of Western Australia Nedlands WA Australia

An important example of bilateral symmetry in nature is the approximate bilateral symmetry exhibited by humans. Detecting and measuring bilateral symmetry in medical images should provide benefits in a clinical environment. This paper presents a method for detecting the dominant plane of bilateral symmetry in an image of arbitrary dimension and subsequently measuring the degree of bilateral symmetry in the image. By adapting the work of others, we provide a unique solution to the problem by using a simple representation of the data and a more sensitive measure of symmetry.

关键词： Digital images Image edge detection Humans Biomedical imaging Magnetic field measurement Data compression Reflection Medical robotics Robot vision systems Anthropometry

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vision-guided robotic grasping: issues and experiments

Vision-guided robotic grasping: issues and experiments

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IEEE International Conference on robotics and Automation (ICRA)

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

Many researchers have turned to sensing, and in particular computer vision, to create more flexible robotic systems. computer vision is often required to provide data for the grasping of a target. Using a vision system for grasping presents several issues with respect to sensing, control, and system configuration. This paper presents some of these issues in concert with the options available to the researcher and the trade-offs to be expected when integrating a vision system with a robotic system for the purpose of grasping objects. The paper includes experimental results from a particular configuration that characterize the type and frequency of errors encountered while performing various vision-guided grasping tasks. These error classes and their frequency of occurrence lend insight into the problems encountered during visual grasping and into the possible solution of these problems.

关键词： Robot vision systems Robot sensing systems Control systems Robot kinematics Intelligent robots computer vision Machine vision Frequency Sensor systems Cameras

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Automatic selection of control points for deformable-model-based target tracking

Automatic selection of control points for deformable-model-b...

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IEEE International Conference on robotics and Automation (ICRA)

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

A novel curve segmentation algorithm for determining control points for deformable-model-based target tracking is proposed. The algorithm is parameterless enabling a fully-fledged automated tracking regardless of the shape of the object being tracked. Compared with other curve segmentation algorithms, it selects a minimal number of control points that yet deliver a superior shape description. The algorithm is comparatively tested with other curve segmentation algorithms in a variety of characteristic target outlines.

关键词： Automatic control Target tracking Deformable models Shape control Intelligent robots Testing Artificial intelligence Robot vision systems robotics and automation Laboratories

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

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Model-based objects recognition in man-made environments

Model-based objects recognition in man-made environments

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： J. Marti A. Casals Computer Vision and Robotics Group University of Girona Catalonia Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm.

关键词： Object recognition Object oriented modeling Remotely operated vehicles Mobile robots Navigation Layout Expert systems Shape Image recognition Data mining

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems Laboratories computer science Nanofabrication Uniform resource locators

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