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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions.

关键词： Robustness Face recognition Face detection Lighting Optical imaging intelligent robots Infrared imaging Pattern recognition computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

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International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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Autonomous control of a scale model of a trailer-truck using an obstacle-avoidance path-planning hierarchy

Autonomous control of a scale model of a trailer-truck using...

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American Control Conference (ACC)

作者： B. Woodley L. Acar Department of Electrical and Computer Engineering and Intelligent Systems Center University of Missouri Rolla USA

A scale model of a tractor-trailer truck was developed as a testbed for control algorithms. The truck operates in autonomous or semi-autonomous modes. An on-board Pentium computer with a PC104 bus performs the computations and data collection. Various sensors and a wireless transceiver are on-board the truck. Our research focus has been in the autonomous control of vehicles using intelligent systems. For this document we have employed a multi-resolutional hierarchy to plan a path for the tractor-trailer truck. The hierarchy starts with a simple path then warps it around obstacles. The modular construction of the hierarchy allows more intelligent agents to perform some of tasks. The current system has some limitations as to the placement of obstacles, however, it is an extremely fast algorithm and is able to handle some motion of the obstacles.

关键词： Path planning intelligent sensors Testing Wireless sensor networks Transceivers Control systems Remotely operated vehicles Mobile robots intelligent systems intelligent vehicles

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Passive sonar applications: target tracking and navigation of an autonomous robot

Passive sonar applications: target tracking and navigation o...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Mattos E. Grant Center for Robotics and Intelligent Machines Electrical and Computer Engineering Department North Carolina State University Raleigh USA

This paper demonstrates the use of small area acoustic array technology as passive sonar for an autonomous mobile robot sound localization and direction control. Real-time target tracking is based solely on received a... 详细信息

关键词： Sonar applications Target tracking Sonar navigation Acoustic arrays Array signal processing Sensor arrays Acoustic devices Sonar measurements Mobile robots Robot sensing systems

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The design, fabrication, and characterization of millimeter scale motors for miniature direct drive robots

The design, fabrication, and characterization of millimeter ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Palmer J.F. Mulling B. Dessent E. Grant J.W. Eischen A. Gruverman A.I. Kingon P.D. Franzon Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

This paper reports on research into miniature, direct drive, high force/torque motors to support insect-sized mobile robotic platforms. The primary focus is on scalable motors based on piezoelectric transducers. The contributions of this work include: (1) the design, analysis, and characterization of a miniature mode conversion rotary ultrasonic motor based on a piezoelectric stack transducer; this produced a static torque density of 0.37 Nm/kg, (2) a millimeter scale linear piezometer, constructed with a parallel arrangement of annular stressed unimorph piezoelectric transducers and passive latches, exhibited 0.23 N of blocked force, and (3) simulation data is presented that compares these motor concepts to commercial systems in the context of scalability. Results suggest that smaller versions of the rotary ultrasonic motor would possess a static torque density seven times that of a commercial 3-mm electromagnetic system. This technology shows promise for driving the platform.

关键词： Fabrication Torque Piezoelectric transducers intelligent robots Couplings Ultrasonic transducers Electromagnetic forces Insects Robotic assembly Angular velocity

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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans intelligent robots Interference Robot sensing systems Mobile computing

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Adaptive force-balancing control of MEMS gyroscope with actuator limits

Adaptive force-balancing control of MEMS gyroscope with actu...

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American Control Conference (ACC)

作者： S. Jagannathan M. Hameed Department of Electrical and Computer Engineering and the Intelligent Systems Center University of Missouri-Rolla Rolla MO USA

This work presents an adaptive force-balancing control (AFBC) scheme with actuator limits for a MEMS Z-axis gyroscope. The purpose of the adaptive force-balancing control is to identify major fabrication imperfections so that they are properly compensated unlike the case of conventional force-balancing controlled gyroscope. The proposed AFBC scheme controls the vibratory modes of the proof mass while ensuring that the control input satisfies the magnitude constraints and the performance of the gyroscope is enhanced in the presence of fabrication uncertainties. Consequently, commonly reported problems of MEMS gyroscope such as quadrature compensation, drive and sense axes frequency tuning are not needed and closed-loop identification of the angular rate is now possible without measuring the input/output phase difference. The proposed scheme also compensates the cross-damping terms that cause the zero-rate output (ZRO). Simulation results justify theoretical conclusions.

关键词： Programmable control Adaptive control Force control Micromechanical devices Gyroscopes Actuators Fabrication Weight control Frequency Tuning

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Model-matching control for steer-by-wire vehicles with under-actuated structure

Model-matching control for steer-by-wire vehicles with under...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： R. Cortesao N. Bajcinca Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) Coimbra Portugal German Aerospace Center (DLR-Oberpfaffenhofen) Germany

The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the model-matching problem are presented. In the presence of road disturbances (e.g. lateral wind), SBW vehicles have superior performance.

关键词： Gears Spline Actuators Torque Teeth Automotive engineering Road vehicles Mechanical sensors Master-slave Orbital robotics

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Range identification for perspective dynamic systems using linear approximation

Range identification for perspective dynamic systems using l...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Ma YangQuen Chen K.L. Moore Center for Self-organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper presents linear approximation ideas to range identification problem for a perspective dynamic system (PDS). Using a recently introduced linear approximation technique, the perspective dynamic system, which is a special class of nonlinear systems, can be approximated by a sequence of linear time-varying (LTV) subsystems. Observer design problem of the original nonlinear PDS reduces to the observer design of this sequence of LTV subsystems. For each LTV subsystem, existing standard observer methods can be applied.

关键词： Linear approximation Nonlinear systems Nonlinear dynamical systems Robotic assembly Observers robotics and automation Motion estimation intelligent systems USA Councils Time varying systems

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