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EXPERIMENTS IN ACTIVE vision WITH REAL AND VIRTUAL ROBOT HEADS

APPLIED INTELLIGENCE 1995年第3期5卷 237-250页

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee 37996-2100 Knoxville TN

In the emerging paradigm of animate vision, the visual processes are not thought of as being independent of cognitive or motor processing, but as an integrated system within the context of visual behavior. Intimate coupling of sensory and motor systems have found to improve significantly the performance of behavior based vision systems. In order to study active vision systems one requires sensory-motor systems. Designing, building, and operating such a test bed is a challenging task. In this paper we describe the status of on-going work in developing a sensory-motor robotic system, R2H, with ten degrees of freedoms (DOF) for research in active vision. To complement the R2H system a Graphical Simulation and Animation (GSA) environment is also developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. GSA system aids the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, it's sensors and it's workspace. With the aid of the GSA environment a Depth from Focus (DFF), Depth from Vergence, and Depth from Stereo modules are implemented and tested. The power and usefulness of the GSA system as a research tool is demonstrated by acquiring and analyzing images in the real and virtual worlds using the same software implemented and tested in the virtual world.

关键词： ACTIVE vision ROBOT HEADS ROBOT SIMULATION DEPTH EXTRACTION

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RESIDUAL UNCERTAINTY IN 3-DIMENSIONAL RECONSTRUCTION USING 2-PLANES CALIBRATION AND STEREO METHODS

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PATTERN RECOGNITION 1995年第7期28卷 1073-1082页

作者： THAYER, S TRIVEDI, M Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory The University of Tennessee Knoxville TN 37996-2100 U.S.A.

A necessary goal in the calibration of any instrument is an indication of how well the particular device performs. In the specific case where a camera system is used in the process of three-dimensional reconstruction or stereopsis, geometric measures of the accuracy, precision, and repeatability of 3-D point measurements give a quantitative evaluation of the success of that algorithm. This paper presents an experimental performance analysis of a traditional calibration algorithm as applied to the problem of three-dimensional vision. The study begins with an analysis of the algorithm in a single camera or monocular system. Monocular analysis concludes with a derivation of error boundaries under different. geometric constraints. Showing how this residual error propagates from the component monocular systems into a three-dimensional reconstruction, a binocular analysis derives the desired performance monitors. The paper concludes with a geometric interpretation of the results.

关键词： STEREOPSIS ACCURACY PRECISION REPEATABILITY MONOCULAR BINOCULAR 2-PLANES CALIBRATION

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A 3D local energy surface detector for confocal microscope imalges 3

A 3D local energy surface detector for confocal microscope i...

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3rd Australian and New Zealand Conference on Intelligent Information Systems, ANZIIS 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology United States Robotics and Vision Research Group Department of Computer Science University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)0864224303

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature profiles: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters. The filters are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and synthetic 3D image volumes. © 1995 IEEE. All rights reserved.

关键词： Microscopes

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Moving furniture with teams of autonomous robots

Moving furniture with teams of autonomous robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Rus B. Donald J. Jennings Department of Computer Science Robotics Laboratory Hanover NH USA Department of Computer Science Robotics and Vision Laboratory Cornell University Ithaca NY USA

The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ask whether planning, global control, and explicit communication are necessary for cooperatively changing the pose of objects. The authors answer in the negative and present, as witnesses, four cooperative manipulation protocols that use different amounts of state, sensing, and communication. The authors analyze these protocols in the information invariant framework. The authors formalize the notion of resource tradeoffs for robot protocols and give the tradeoffs for the specific protocols discussed here.

关键词： Protocols Orbital robotics Robot sensing systems Robotic assembly Solid modeling computer science Laboratories Mobile robots Shape Parallel robots

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Feature detection using oriented local energy for 3D confocal microscope images 3rd

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3rd International computer Science Conference, ICSC 1995

作者： Pudney, Chris Kovesi, Peter Robbins, Ben Biomedical Confocal Microscopy Research Centre Department of Pharmacology The University of Western Australia NedlandsWA6907 Australia Robotics and Vision Research Group Department of Computer Science The University of Western Australia NedlandsWA6907 Australia

ISBN: (纸本)9783540606970

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient-based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by Morrone and Owens marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature types: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters that are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency-space and multiplied by the image's Fourier transform. Results are presented for real confocal images and a synthetic 3D image volume. These results are compared with those from a 3D implementation of the Sobel edge detecto. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Feature extraction

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Categorical color projection for robot road following

Categorical color projection for robot road following

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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Pedestrian tracking from a stationary camera using active deformable models

Pedestrian tracking from a stationary camera using active de...

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IEEE Symposium on Intelligent Vehicle

作者： M.J. Sullivan C.A. Richards C.E. Smith O. Masoud N.P. Papanikolopoulos Artificial Intelligence Department of Computer Science Robotics and Vision Laboratory University of Minnesota Minneapolis MN USA

The system proposed in this paper uses active deformable models to track pedestrians moving in dynamic real-world scenes. First, figure pixels are separated from a fixed or slowly evolving ground image. Then, an initial segmentation process identifies interesting pixel blobs for tracking. The output of the segmentation process is used to choose the starting position of the control points of the active deformable model. Once tracking has begun, the control points are updated at frame rates by minimizing an energy function involving the relative position of model points, image data, and the characteristics of figure pixels.

关键词： Cameras Deformable models Biological system modeling Layout Humans Motion analysis computer vision Dynamic programming Leg Legged locomotion

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vision-based intelligent control of transportation systems

Vision-based intelligent control of transportation systems

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IEEE International Symposium on Intelligent Control (ISIC)

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

In response to the overcrowding of transportation systems, there has been an increase in the emphasis placed upon intelligent vehicle/highway systems (IVHS). Whether the application is keeping a safe distance between vehicles on highways or allowing a pedestrian to safely cross a street, environmental sensing and control play a crucial role in IVHS applications. In this paper we present robust visual detection and tracking techniques for IVHS applications, where computer vision may be the only sensor used or a part of a larger multi-sensor system. We have selected the application of pedestrian detection and tracking to demonstrate that the controlled active vision framework can provide precisely the type of information required to effectively manage traffic situations.

关键词： Intelligent control Intelligent transportation systems Application software Road transportation Intelligent vehicles Road vehicles Vehicle safety Robustness computer vision Sensor systems and applications

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Grasping of static and moving objects using a vision-based control approach

Grasping of static and moving objects using a vision-based c...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

Recent work combining robotics with vision has emphasized an active vision paradigm where the system changes the pose of the camera to improve environmental knowledge or to establish and presence a desired relationship between the robot and objects in the environment. Much of this work has concentrated upon the active observation of objects by the robotic agent. In this paper we present extensions to the controlled active vision framework that focus upon the autonomous grasping of a moving or static object in the manipulator's workspace. Our work extends the capabilities of an eye-in-hand system beyond those as a "pointer" or a "camera orienter" to provide the flexibility required to robustly interact with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota robotic visual tracker to automatically select object features, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in the grasping of a moving or static object.

关键词： Robot sensing systems Robot vision systems Cameras Manipulators Intelligent robots Grippers Charge-coupled image sensors Artificial intelligence Laboratories computer science

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The automatic detection and visual tracking of moving objects by eye-in-hand robotic systems

The automatic detection and visual tracking of moving object...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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

Traditionally, the robotic visual servoing/tracking problem has received attention from researchers for its interesting control and computer vision issues. However many visual servoing tasks also require the ability to automatically detect moving objects. Until recently, very few efforts have been reported in the area of automatic detection of servoing targets. This paper presents a robust detection scheme for use in robotic visual servoing experiments. It detects and tracks moving objects through the use of a "figure/ground" approach. Experimentation has shown the feasibility of this approach under general conditions. This paper provides a description of the authors system implementation in an experimental robotic system, along with a collection of results. The paper also contains a discussion of problems and issues for future work.

关键词： Object detection robotics and automation Visual servoing Robot vision systems Intelligent robots Robot sensing systems Target tracking Automatic control Feedback loop Adaptive control

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