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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

The design of a special-purpose systolic image convolution processor for use in a robot vision system is described. It presents a high-speed two-dimensional hardware convolution architecture based on VSLI systolic arrays for image processing applications. An architecture for the parallel processing of the generalized two-dimensional convolution is summarized. A VLSI convolution chip was designed to accommodate various convolution window sizes. The number of coefficients being handled is directly proportional to the number of systolic computing elements (processors) used. In the present design three such processors are configured on one VLSI chip. Signed coefficients and unsigned data of eight bits are supported. All processing and interprocessor communications are performed bit-serially. The chip design incorporates error detection during convolution, and overflow avoidance techniques are possible for maximum system autonomy. The chip is estimated to operate at a maximum frequency of 16 MHz.< >

关键词： Hardware Convolution Very large scale integration computer architecture Frequency estimation Robot vision systems Systolic arrays Image processing Parallel processing Process design

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Darboux frames, snakes, and super-quadrics: geometry from the bottom-up

Darboux frames, snakes, and super-quadrics: geometry from th...

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Workshop on Interpretation of 3D Scenes

作者： F.P. Ferrie J. Lagarde P. Whaite Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

A representation and a computational model for deriving three-dimensional articulated volumetric descriptions of objects from laser range-finder data are described. What differentiates this work from other approaches is that it is purely bottom up, relying on general assumptions cast in terms of differential geometry. Darboux frames, snakes, and superquadrics form the basis of this representation, and curvature consistency provides the computational framework. The organization is hierarchical. Darboux frames are used to describe the local surface, while snakes are used to interpolate between features, particularly those that serve to partition a surface into its constituent parts. Superquadrics are subsequently used to characterize the 3-D shape of each surface partition. The result is a set of connected volumetric primitives which serve to describe the overall shape of an object. A set of examples showing how the approach performs on data acquired with a laser range finder is included.< >

关键词： Geometrical optics Surface fitting Computational geometry computer vision Shape Surface reconstruction Robot vision systems Laboratories Laser modes Orbital robotics

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Object recognition using fast adaptive Hough transform

Object recognition using fast adaptive Hough transform

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

A fast adaptive Hough transform (FAHT) approach is developed for detecting shapes which can be characterized by two parameters. This class of shapes includes both linear and circular image features. The method is based on identifying linear and circular segments in images by searching for clusters of evidence in two-dimensional parameter spaces. The FAHT differs from HT in the degree of freedom allowed in the placement and choice of shape of the window which defines the range of parameters under study at each resolution. This method is superior to that of HT implementation in both storage and computational requirements. The ideas of the FAHT are illustrated by tackling the problem of identifying linear segments in images by searching for clusters of evidence in two-dimensional parameter spaces. It is shown that the method is robust to the addition of extraneous noise and can be used to analyze complex images containing more than one shape.< >

关键词： Object recognition Shape Image analysis Image segmentation Equations computer vision Noise robustness Noise shaping Image edge detection Robot vision systems

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FLEXIBLE AND RIGID ROBOTS

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JOURNAL OF ROBOTIC SYSTEMS 1989年第4期6卷 323-324页

作者： JAMSHIDI, M Guest Editor CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131

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Joint trajectory generation for redundant robots

Joint trajectory generation for redundant robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia Z.Y. Guo Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.< >

关键词： Robot kinematics Orbital robotics Redundancy Jacobian matrices Least squares approximation Manipulators Arm Feedback Vectors Computational modeling

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Basis sets for manipulator inertial parameters

Basis sets for manipulator inertial parameters

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.-Y. Sheu M.W. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to serial-link graph-structured manipulators. The authors prove that the minimum number of parameters can be obtained directly from an energy difference equation rather than the dynamic equations of motion. They present a method for the identification of the minimum number of basis vectors which span the vector space containing the components of inertial parameters present in the equations of motion. Simulations are presented and the method is evaluated. The method is conceptually simple, computationally efficient and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm.< >

关键词： Manipulator dynamics Difference equations Lagrangian functions Legged locomotion Laboratories Computational modeling Kinematics Heuristic algorithms Actuators Upper bound

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Strategies for automated placement of a robot hand-held mobile 3D range sensor

Strategies for automated placement of a robot hand-held mobi...

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Annual Conference of Industrial Electronics Society

作者： R.C. Luo R. Scherp Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are well understood and that objects expected in the scene are known and modeled. Then, given a set of constraints, a set of actions is specified directing a robot arm to position itself in such a manner that an attached 3-D sensor located in the robot gripper yields the maximum information content with minimum effort with respect to the constraints. Techniques that yield solutions for placement of a triangulation-type 3-D laser range finder are presented.< >

关键词： Mobile robots Robot sensing systems robotics and automation Intelligent sensors Layout Cameras Sensor systems Intelligent robots Shape Object recognition

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Mean field theory and MT neurons

Mean field theory and MT neurons

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Dobbins S.W. Zucker Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Canadian Institute for Advanced Research Montreal QUE Canada

The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations of the optical flow field, that is, the maximal neighborhood over which the local field can be well-approximated as uniform, parallel translation. In addition, the way the mean field approximation varies with neighborhood size and position is informative about the variation of the flow field. It is shown how receptive fields can be synthesized to represent the first-order differential information about the flow field. The same ideas are applicable to the binocular disparity vector field, and lead one to predict the existence of extrastriate neurons that are specialized for the local shear and stretch of the disparity and motion vector fields.< >

关键词： Neurons Image motion analysis Circuits computer architecture computer vision Robot vision systems Laboratories Shape Optical devices Retina

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A modifed optical flow approach for robotic tracking and acquisition

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Journal of Robotic Systems 1989年第5期6卷 489-508页

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh North Carolina 27695 United States

A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics and Intelligent Systems laboratory at NCSU is used as an integral part of the entire tracking and acquisition system. The eye‐in‐hand system is employed to characterize the object trajectory in real time via a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that is extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the experimental results is presented. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company

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A patient data management system for an intensive care unit

A patient data management system for an intensive care unit

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： C. Collet N. Fumai M. Petroni S. Malowany J.F. Panisset A.S. Malowany F.A. Carnevale R.D. Gottesman A. Rousseau Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Pediatric Intensive Care Unit Montreal Children's Hospital Montreal QUE Canada

A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their trends using interactive menus. Fluid balance data, medical dosage calculations based on the patient data, and medical observations are also managed by the PDMS. It provides this information for online use by the medical personnel, produces the special forms and summary reports, and archives this data for storage and retrieval. The PDMS is designed and developed for an IBM PS/2 running under the OS/2 multitasking operating system and equipped with an 8514/A high-resolution color video display. The design of the PDMS is described here, with added emphasis on its software structure. Sample results are presented.< >

关键词： computer displays computer network management Local area networks Joining processes Instruments Microcomputers Personnel Information retrieval Multitasking Operating systems

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