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Next billion cameras 09

Next billion cameras

引用

ACM SIGGRAPH 2009 Courses, SIGGRAPH '09

作者： Efros, Alexei Raskar, Ramesh Seitz, Steve Robotics Institute Computer Science Department Carnegie Mellon University United States MIT Media Lab. Camera Culture Research Group United States Department of Computer Science and Engineering University of Washington United States

ISBN: (纸本)9781450379380

What will a camera look like 10 years from now? How should we change the camera to improve mobile photography? How will a billion networked and portable cameras change the social culture? How can we use bio-inspired processing to decompose sensed values into perceptually critical elements? How will online photo collections transform visual social computing? Capture and analysis of visual information plays an important role in photography, art, medical imaging, tele-presence, worker safety, scene understanding, and robotics. But current computational approaches analyze images from single cameras that have only limited abilities. Cameras of the future will exploit unusual optics, novel illumination, and emerging sensors. A significant enhancement in the next billion cameras to support scene analysis and mechanisms for superior metadata tagging for effective sharing will bring about a revolution in visual communication. This course explores the trends and issues associated with that revolution.

关键词： Image enhancement

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Reconfigurable disruption tolerant routing via reinforcement learning

Reconfigurable disruption tolerant routing via reinforcement...

引用

2009 International Joint Conference on Neural Networks, IJCNN 2009

作者： Kim, Tae-Hyung Pyeatt, Larry D. Wunsch II, Donald C. Applied Computational Intelligence Laboratory Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO 65409-0040 United States AI Robotics Laboratory Department of Computer Science Texas Tech. University Abilene TX 79601 United States

ISBN: (纸本)9781424435531

This paper shows packet delivery rate can be improved by adopting learning-based hybrid routing strategies when a wired network suffers from severe link disruption. The dynamics of the link disruptions complicate the routing problem;successful and stable routing operations of conventional routing approaches are hindered as the level of disruption increases. The target is to develop a robust and efficient routing approach in a single structure. A robust routing approach means a packet should be delivered to a destination even under severe disruptions. Efficient routing should deliver a packet with the shortest path at no disruption. These goals should be achieved with the maximum utilization of preexisting network components and with the minimal human intervention once installed. Therefore, we chose a popular conventional routing scheme, Link State, and add-ons that can learn changing network environment. Our approach is to add a learning agent and a simple routing scheme to Link State in order to automatically select a better routing scheme at an arbitrary level of disruption. Markov Decision Process is employed to model this problem. The simulation results show robustness and packet delivery rate are increased up to 35% at acceptable cost of computational and architectural complexity even when Link State approach is close to be collapsed. © 2009 IEEE.

关键词： Markov processes

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Capturability of a simple guidance law with angular acceleration input 10

Capturability of a simple guidance law with angular accelera...

引用

2009 10th European Control Conference, ECC 2009

作者： Urakubo, Takateru Kanade, Takeo Department of Computer Science and Systems Engineering Kobe University Nada-ku Kobe657-8501 Japan Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9783952417393

This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage. © 2009 EUCA.

关键词： Equations of motion

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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MDP based active localization for multiple robots

MDP based active localization for multiple robots

引用

IEEE International Conference on Automation science and engineering (CASE)

作者： Jyotika Bahuguna B. Ravindran K. Madhava Krishna Robotics Research Laboratory Department of Computer Science and Engineering Indian Institute of Technology Hyderabad Andhra Pradesh India Department of Computer Science and Engineering IIT Madras Chennai India

In environments with identical features, the global localization of a robot, might result in multiple hypotheses of its location. If the situation is extrapolated to multiple robots, it results in multiple hypotheses for multiple robots. The localization is facilitated if the robots are actively guided towards locations where it can use other robots as well as obstacles to localize itself. This paper aims at presenting a learning technique for the above process of active localization of multiple robots by co-operation. An MDP framework is used for learning the task, over a semi-decentralized team of robots hereby maintaining a bounded complexity as opposed to various multi-agent learning techniques, which scale exponentially with the increase in the number of robots.

关键词： Robot sensing systems robotics and automation Mobile robots computer science Orbital robotics Maintenance Navigation Motion estimation Runtime Dead reckoning

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On adapting the tensor voting framework to robust color image denoising

引用

13th International Conference on computer Analysis of Images and Patterns, CAIP 2009

作者： Moreno, Rodrigo Garcia, Miguel Angel Puig, Domenec Julià, Carme Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Av. Països Catalans 26 Tarragona 43007 Spain Department of Informatics Engineering Autonomous University of Madrid Cra. Colmenar Viejo Km 15 Madrid 28049 Spain

ISBN: (纸本)3642037666

This paper presents an adaptation of the tensor voting framework for color image denoising, while preserving edges. Tensors are used in order to encode the CIELAB color channels, the uniformity and the edginess of image pixels. A specific voting process is proposed in order to propagate color from a pixel to its neighbors by considering the distance between pixels, the perceptual color difference (by using an optimized version of CIEDE2000), a uniformity measurement and the likelihood of the pixels being impulse noise. The original colors are corrected with those encoded by the tensors obtained after the voting process. Peak to noise ratios and visual inspection show that the proposed methodology has a better performance than state-of-the-art techniques. © 2009 Springer Berlin Heidelberg.

关键词： Pixels

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Multi-robot pursuit with visibility constraints

Multi-robot pursuit with visibility constraints

引用

International International Symposium on computer and Information sciences (ISCIS)

作者： Esra Kadioglu Urtis Nikolaos Papanikolopoulos Computer Engineering Department TOBB University of Economics and Technology Ankara Turkey Center of Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We address the problem of pursuing a moving target from multiple angles using multiple mobile robots. The pursuer uses a modified form of pursuit curve in order to reach the multiple aim points which are at a pre-determined distance and angle from the target. This is different from existing works that track a target to localize it, follow a target by keeping it in the current frame of view generally from behind the target, or pursue a target in order to establish a line of sight. The focus in our work is on an efficient pursuit of the target such that the pursuers move to a position in order to obtain certain task specific information or perform actions that require specific positioning with respect to the target. Examples include following a target and taking left, right, and frontal images of it for accurate identification, or robots approaching a vehicle for docking, etc. In this paper, we define the multi-angle pursuit problem for multiple robots and present a Pareto optimal solution for task allocation.

关键词： Mobile robots Target tracking Robot vision systems Cameras Cost function Robot sensing systems computer vision Distributed computing computer science Focusing

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

引用

IEEE Conference on Decision and Control

作者： D. Cabecinhas R. Cunha C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Sys-tems and Robotics Instituto Superior Técnico Lisboa Portugal

ISBN: (纸本)9781424438716

This paper addresses the problem of steering a quadrotor vehicle along a predefined path. The problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the actuation. The proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i) guarantees global asymptotic convergence of the path following error to zero, for a large class of three-dimensional paths, ii) ensures that the actuation does not grow unbounded as function of the position errors, and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the path. Simulation results are presented to assess the performance of the proposed controller.

关键词： Vehicles Motion control Backstepping Trajectory Timing Error correction Torque Feedback Convergence Three-term control

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Gabor-based texture classification through efficient prototype selection via normalized cut

Gabor-based texture classification through efficient prototy...

引用

IEEE International Conference on Image Processing

作者： Jaime Melendez Domenec Puig Miguel Angel Garcia Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Spain Department of Informatics Engineering Autonomous University of Madrid Spain

This paper presents a new efficient technique for supervised pixel-based texture classification. The proposed scheme first performs a selection process that automatically determines a subset of prototypes that characterize each texture class based on the outcome of a multichannel Gabor wavelet filter bank. Then, every image pixel is classified into one of the given texture classes by using a K-NN classifier fed with the prototypes determined previously. The proposed technique is compared to previous texture classifiers by using both Brodatz and real outdoor textured images.

关键词： Prototypes Gabor filters Pixel Feature extraction Filter bank Testing Intelligent robots Image texture analysis Pattern recognition Image recognition

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