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MULTI-PRIMITIVE HIERARCHICAL (MPH) STEREO ANALYSIS

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1994年第3期16卷 227-240页

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

This paper develops and demonstrates a new computational framework for an accurate, robust, and efficient stereo approach. In multi-primitive hierarchical (MPH) computational model, stereo analysis is performed in multiple stages, incorporating multiple primitives, utilizing a hierarchical control strategy. The MPH stereo system consists of three integrated subsystems: region-based analysis module;linear edge segment-based analysis module;and edgel-based stereo analysis module. Results of stereo analysis at higher levels of the hierarchy are used for guidance at the lower levels. The MPH stereo system does not overly rely on one type of primitive and therefore will reliably work on a wide range of scenes. The MPH stereo analysis results in the generation of several disparity maps of multiple abstraction. Disparity maps generated at each level can be fused to obtain an accurate and fine resolution disparity map. The MPH approach also provides the capability to selectively analyze image regions with varying detail. This provides the means for adaptively extracting range information of only sufficient resolution. Thus, a stereo system that utilizes primitives of different abstraction and a multilevel hierarchical computational strategy will be superior to a single-level, single-primitive system. Extensive experimentation is carried out on a wide array of scenes of varying complexity from two application domains to systematically evaluate the validity and performance of the MPH framework. The MPH stereo system is able to analyze images in most cases with 85% - 100% matching accuracy in under a minute of processing time and yield depth values typically within +/-2% of the actual depth.

关键词： COMPUTATIONAL BINOCULAR STEREO HIERARCHICAL STEREO ANALYSIS MULTIPLE PRIMITIVE ANALYSIS DEPTH EXTRACTION

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LONGITUDINAL CONTROL OF THE LEAD CAR OF A PLATOON

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 1994年第4期43卷 1125-1135页

作者： GODBOLE, DN LYGEROS, J Department of Electrical Engineering and Computer Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

We present longitudinal control laws for vehicles moving in an Intelligent Vehicle Highway System (IVHS) [1], [2]. In particular, the scenario where cars move along the highway in;tightly spaced platoons is considered. We present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given in the Appendix.

关键词： Automated highways Road vehicles Automatic control Safety Control systems Road transportation Intelligent robots Intelligent vehicles Traffic control Large-scale systems

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SIMULATION AND ANIMATION OF SENSOR-DRIVEN ROBOTS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1994年第5期10卷 684-704页

作者： CHEN, CX TRIVEDI, MM BIDLACK, CR Computer Vision and Robotics Research Laboratory the Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

关键词： Animation Robot sensing systems robotics and automation Visualization Robot programming Software safety Computational modeling computer simulation Automatic programming Software systems

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Motion perception using spatiotemporal frequency analysis

Motion perception using spatiotemporal frequency analysis

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IEEE International Conference on Image Processing

作者： G. Ravichandran M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

Motion information is extracted by identifying the temporal signature associated with the textured objects in the scene. We present a new computational framework for motion perception. Our methodology considers spatiotemporal frequency (STF) domain analysis to extract the optical flow information. First, we show that a sequence of image frames can be used to extract the motion parameters for the different regions in a dynamic scene using the basic Fourier transform properties in the STF analysis approach. A detailed analytical description of this model to interchangably extract motion and depth parameters and results to highlight their salient properties are presented.< >

关键词： Motion analysis Spatiotemporal phenomena Image motion analysis Data mining Layout Frequency domain analysis Information analysis Fourier transforms Image analysis Image sequence analysis

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Coordinating motion of cooperative mobile robots through visual observation

Coordinating motion of cooperative mobile robots through vis...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S.B. Marapane M. Holder M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee TN USA

This paper describes the development of an integrated autonomous multi-robot system, where two heterogeneous robots exhibit coordinated convoying behavior. Coordination is accomplished without any communication but by visual observation. An active perception system uses visual servoing to track the leading vehicle to determine its heading and relative distance. A fuzzy logic based real-time motion controller uses the heading to control the steering and relative distance and velocity information to adjust the speed to let the trailing robot smoothly follow the leader. A novel correlation algorithm based on minimum noise and correlation energy (MINACE) filter is used for object tracking. The MINACE based tracker is adaptive and when the tracking degrades due to the change in appearance of the leading robot a new filter is synthesized online to replace the old one. The performance and robustness of the convoying system has been verified in a series of extensive laboratory trials.< >

关键词： Mobile robots Robot kinematics Motion control Velocity control Communication system control Filters Multirobot systems Mobile communication Visual servoing Remotely operated vehicles

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Texture segmentation using circular-Mellin operators

Texture segmentation using circular-Mellin operators

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IEEE International Conference on Image Processing

作者： G. Ravichandran M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

Texture is an important preattentive cue in region-based segmentation of images. In this paper, we discuss the use of circular-Mellin features for segmenting an image into homogenous regions. The circular-Mellin operators represent the spectral decomposition of the image scene in the polar-log coordinate system and are invariant to both scale and orientation of the target. Coupled with the unique shift invariance property of the correlator architecture, these circular-Mellin operators can be used for rotation- and scale-invariant feature extraction. We note that while both these feature extractors have similar functional form to the Gabor functions, the distortion-invariant characteristics of the circular-Mellin operators make them preferable for texture segmentation. Segmentation results to demonstrate their salient properties are presented.< >

关键词： Image segmentation Layout computer vision Correlators Feature extraction Maximum likelihood detection Filtering theory Gabor filters Nonlinear filters Pattern recognition

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Simulation and visualization of integrated sensory-motor systems

Simulation and visualization of integrated sensory-motor sys...

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IEEE Workshop on Visualization and Machine Vision

作者： S.B. Marapane M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

A binocular robot head, BETH, with ten degrees of freedom (DOF) has been developed for research in active vision. To complement BETH, a graphical simulation and visualization environment has also been developed. The objective of building the graphical system is to create a comprehensive design tool to design and study the dynamic behavior of sensory-motor systems and their interactions with the environment. This environment integrates perception and motor actions and features complete kinematic simulation of BETH, it's sensors and it's workspace. We demonstrate the utility of this environment in systematic and extensive experimental development of computational frameworks and algorithms for 3D active vision systems which utilizes multiple passive depth cues (stereo, vergence, and depth from focusing).< >

关键词： Visualization Head Robot sensing systems Robot vision systems computer vision Computational modeling Buildings Focusing Image analysis Machine vision

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Sensor based obstacle avoidance and mapping for fast mobile robots

Sensor based obstacle avoidance and mapping for fast mobile ...

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IEEE International Conference on robotics and Automation (ICRA)

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

This paper describes one aspect of a project whose goal is to move a robot in an unknown environment and find pipes to decommission. While moving through the environment a low level map, in the form of an occupancy grid, along with detailed location of pipes in the environment are obtained. This paper deals only with the low level "reflex" of obstacle avoidance that is performed while the robot moves along its path as well as some of the higher level tasks involved in path planning and robot motion in order to negotiate through a hazardous environment. The overall high level interaction with the system is made as simple and user friendly as possible using a graphical interface to control high level tasks. All low level communications and processing are transparent. The robot used for experimentation is a wheeled mobile platform equipped with many different sensors including ultrasonic range sensors and cameras. A quick and efficient obstacle avoidance algorithm has been developed using sixteen ultrasonic range sensor and one infrared proximity sensor.< >

关键词： Mobile robots Infrared sensors Robot sensing systems Path planning Robot motion Communication system control Control systems Mobile communication Robot vision systems Cameras

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Acquisition of 3D structure of selectable quality from image streams

Acquisition of 3D structure of selectable quality from image...

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IEEE Workshop on Applications of computer Vision (WACV)

作者： A.K. Dalmia M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

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, the inter-frame 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 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 the image acquisition and processing. The total acquisition and processing time in these experiments is in the range of 0.27 to 1.56 sec. The depth results have an accuracy of 85% to 92%.< >

关键词： Streaming media computer vision Machine vision Cameras Pipelines Spatial resolution Layout Delay Performance analysis Robot vision systems

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Real-time visual tracking using correlation techniques

Real-time visual tracking using correlation techniques

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IEEE Workshop on Applications of computer Vision (WACV)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The Minimum Noise and Correlation Energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3-D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation. The correlation filter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.< >

关键词： Target tracking Cameras Robot vision systems Visual servoing computer vision Adaptive filters Mobile robots Laboratories Power engineering and energy Pipelines

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