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On integrating depth from motion and stereo

On integrating depth from motion and stereo

引用

IEEE International Conference on Systems, Man and Cybernetics

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

This paper presents a method to accurately and efficiently extract depth from a sequence of images. The method integrates two techniques of depth extraction, namely, spatial and temporal gradient analysis, and stereo processing to enhance the reliability of the depth extraction. Spatial and temporal gradient analysis has been shown to provide depth in a highly efficient manner. However, due to the small image displacement used in this algorithm, depth with only limited precision can be computed. To enhance the precision, a stereo based matching is performed on the first frame and the last frame of the monocular sequence used in spatial and temporal gradient analysis. The stereo matching is limited to a small region, based on the results of the spatial and temporal gradient analysis. The performance of the approach is demonstrated through experiments with real scenes.< >

关键词： Data mining Displacement measurement Equations Cameras Robots Laboratories Image sequence analysis Performance analysis Machine vision Art

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Localized Radon transform-based detection of linear features in noisy images

Localized Radon transform-based detection of linear features...

引用

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

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

This paper presents a Radon transform-based approach to the detection of linear features in images characterized by high noise levels. This approach is based on the localized Radon transform where the intensity integration is performed over short line segments rather than across the entire image. The algorithm, referred to as the feature space line detector (FSLD) algorithm, is tested on synthetic images of linear features with very high noise levels. The results of this testing demonstrate the algorithm's robustness in the presence of noise, as well as its ability to detect and localize linear features that are significantly shorter than the image dimensions or that display some curvature.< >

关键词： Feature extraction

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Hierarchical hybrid control: an IVHS case study

Hierarchical hybrid control: an IVHS case study

引用

IEEE Conference on Decision and Control

作者： D.N. Godbole J. Lygeros S. Sastry Department of Electrical Engineering & Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

A case study of the difficulties associated with the design of hybrid control systems is presented. The authors use an intelligent vehicle highway system (IVHS) architecture as their example of a hierarchical hybrid system. The authors point out that, even though conventional analysis tools suggest that the proposed design should fulfill certain performance requirements, the simulation results show that it does not. The authors consider this as an indication that the conventional tools currently in use for the design and verification of control systems may be inadequate for the design of hierarchical control of hybrid systems.< >

关键词： computer aided software engineering Control systems Intelligent vehicles Road transportation Intelligent robots Road safety Vehicle safety Road vehicles Machine intelligence Laboratories

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Model based fuzzy logic control

Model based fuzzy logic control

引用

IEEE Conference on Decision and Control

作者： J. Lygeros D.N. Godbole C.P. Coleman Intelligent Machines and Robotics Laboratory Department of Electrical Engineering & Computer Sciences University of California Berkeley CA USA

In this paper, we introduce a general formalism for generating a fuzzy plant model. We provide a description of fuzzification, inference rules, and defuzzification in terms of mappings from the set of real numbers to the fuzzy set domain; We demonstrate the use of this formalism by developing a general fuzzy logic, rule based plant model for a stable, discrete-time, linear time-invariant system, with rational coefficients. We prove that the fuzzy plant model exactly duplicates the behavior of the discrete-time linear system. A worked example and simulation results are also presented. Finally, we outline a method for control design using fuzzy rule base plant models. Possible application of this method for regulation and tracking is considered.< >

关键词： Fuzzy logic Fuzzy control Control system synthesis Fuzzy sets Control design Intelligent robots Ear Control systems Machine intelligence Laboratories

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Simulation as a tool for hybrid system design

Simulation as a tool for hybrid system design

引用

Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： J. Lygeros D. Godbole S. Sastry Intelligent Machines and Robotics Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

A case study of the use of simulation as a tool for design and validation of hybrid systems is presented. We use an intelligent vehicle highway systems (IVHS) architecture, a system that involves both continuous state and discrete event controllers as our example of a hierarchical hybrid system. We point out that even though analytical methods do not exist for verification of hybrid control system, a simulation tool can be useful to (in)validate that the hybrid system operates properly.< >

关键词： Computational modeling Control systems Intelligent robots Intelligent vehicles Analytical models Performance analysis Optimal control Machine intelligence Laboratories computer simulation

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Motion and depth perception using spatiotemporal frequency analysis

Motion and depth perception using spatiotemporal frequency a...

引用

IEEE International Conference on Systems, Man and Cybernetics

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

Motion information is extracted by identifying the temporal signature associated with the textured objects in the scene. In this paper, 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. When the observer (or the camera) moves, motion is induced in the scene, and the extracted motion information can then be used to estimate the depth parameters. 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 Data mining Layout Image motion analysis Frequency domain analysis Information analysis Fourier transforms Image analysis Image sequence analysis

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control Intelligent robots Nonlinear equations Control systems Distributed control

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control Intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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Sensorless manipulation using massively parallel microfabricated actuator arrays

Sensorless manipulation using massively parallel microfabric...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

This paper investigates manipulation tasks with arrays of microelectromechanical structures (MEMS). We develop a geometric model for the mechanics of microactuators and a theory of sensorless, parallel manipulation, and we describe efficient algorithms for their evaluation. The theory of limit surfaces offers a purely geometric characterization of microscale contacts between actuator and moving object, which can be used to efficiently predict the motion of the object on an actuator array. It is shown how simple actuator control strategies can be used to uniquely align a part up to symmetry without sensor feedback. This theory is applicable to a wide range of microactuator arrays. Our actuators are oscillating structures of single-crystal silicon fabricated in a IC-compatible process. Calculations show that these actuators are strong enough to levitate and move, for example, a piece of paper.< >

关键词： Sensor arrays Actuators Microactuators Fabrication Micromechanical devices Laboratories Solid modeling Sensorless control Nanofabrication Robots

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