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检索条件"机构=Department of Robotics Engineering and Computer Science"

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Body Localization in Still Images Using Hierarchical Models and Hybrid Search

Body Localization in Still Images Using Hierarchical Models ...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Jiayong Zhang Jiebo Luo R. Collins Yanxi Liu The Robotics Institute Carnegie Mellon University PA USA Kodak Research Laboratory Eastman Kodak (Japan) Limited NY USA Department of Computer Science and Engineering Pennsylvania State University PA USA

We present a 3-level hierarchical model for localizing human bodies in still images from arbitrary viewpoints. We first fit a simple tree-structured model defined on a small landmark set along the body contours by Dynamic Programming (DP). The output is a series of proposal maps that encode the probabilities of partial body configurations. Next, we fit a mixture of view-dependent models by Sequential Monte Carlo (SMC), which handles self-occlusion, anthropometric constraints, and large viewpoint changes. DP and SMC are designed to search in opposite directions such that the DP proposals are utilized effectively to initialize and guide the SMC inference. This hybrid strategy of combining deterministic and stochastic search ensures both the robustness and efficiency of DP, and the accuracy of SMC. Finally, we fit an expanded mixture model with increased landmark density through local optimization. The model hierarchy is trained on a large number of gait images. Extensive tests on cluttered images with varying poses including walking, dancing and various types of sports activities demonstrate the feasibility of the proposed approach.

关键词： Sliding mode control Biological system modeling Proposals Humans Dynamic programming Monte Carlo methods Stochastic processes Robustness Testing Legged locomotion

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Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems Control systems Robot control Sensor systems Sampling methods

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Improving Data Association in Vision-based SLAM

Improving Data Association in Vision-based SLAM

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Arturo Gil Oscar Reinoso Oscar Martinez Mozos Cyrill Stachniss Wolfram Burgard Department of Systems Engineering Miguel Hernández University Elche(Alicante) Spain Department of Computer Science University of Freiburg Freiburg Germany Eidgenössische Technische Hochschule (ETH) Inst. of Robotics and Intelligent Systems Zurich Switzerland

This paper presents an approach to vision-based simultaneous localization and mapping (SLAM). Our approach uses the scale invariant feature transform (SIFT) as features and applies a rejection technique to concentrate on a reduced set of distinguishable, stable features. We track detected SIFT features over consecutive frames obtained by a stereo camera and select only those features that appear to be stable from different views. Whenever a feature is selected, we compute a representative feature given the previous observations. This approach is applied within a Rao-Blackwellized particle filter to make the data association easier and furthermore to reduce the number of landmarks that need to be maintained in the map. Our system has been implemented and tested on data gathered with a mobile robot in a typical office environment. Experiments presented in this paper demonstrate that our method improves the data association and in this way leads to more accurate maps

关键词： Simultaneous localization and mapping Cameras Intelligent robots Euclidean distance Mobile robots Robot kinematics Robot vision systems Particle filters Gas insulated transmission lines Intelligent systems

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Unconstrained Real-time Markerless Hand Tracking for Humanoid Interaction

Unconstrained Real-time Markerless Hand Tracking for Humanoi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Thomas Gumpp Pedram Azad Kai Welke Erhan Oztop Rudiger Dillmann Gordon Cheng Department of Humanoid Robotics and Computational Neuroscience ATR Computational Neuroscience Laboratories Kawaguchi Saitama Japan Institute for Computer Science and Engineering University of Karlsruhe Germany Computational Brain Project JST ICORP Kawaguchi Saitama Japan

ISBN: (纸本)1424401992;142440200X

Markerless hand tracking of humans can be applied to a broad range of applications, in robotics, animation and natural human-computer interaction. Traditional motion capture and tracking methods involve the usage of devices such as a data glove, or marker points that are fixed and calibrated on the object to perform tracking. Markerless tracking is free from such needs, and therefore allows for more freedom in movement and spontaneous interaction. In this paper, we analyze how a hand tracking system, which reliably tracks arbitrary hand movements can be implemented. We explored a model based approach that uses particle filters for tracking. In this study we also determine the degree to which the inherent parallel properties of particle filter can be exploited to achieve the goal of real-time tracking. We present the effectiveness of the tracking system via the realtime control of a 20 degrees of freedom dexterous robotic hand

关键词： Robot kinematics Human robot interaction Hidden Markov models Particle filters Particle tracking Image databases Humanoid robots Laboratories computer science Application software

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Robust Adaptive Control for Complex Systems Employing ANN Emulation of Nonlinear Functions

Robust Adaptive Control for Complex Systems Employing ANN Em...

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Seminar on Neural Network Applications in Electrical engineering

作者： Georgi M. Dimirovski Yuanwei Jing Yanxin Zhang Miomir K. Vukobratovic Faculty of Electrical Engineering SS Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Kadikoy Istanbul Turkey School of Information Science and Engineering Northeastern University Shenyang China Laboratory of Robotics & Flexible Automation Mihajlo Pupin Institute Belgrade Serbia

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique

关键词： Robust control Adaptive control Emulation Network synthesis Neural networks Mechatronics Uncertainty Artificial neural networks Control system synthesis Stability

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Preface

Springer Tracts in Advanced Robotics

引用

Springer Tracts in Advanced robotics 2006年 21卷

作者： Ang, Marcelo H. Khatib, Oussama National University of Singapore Department of Mechanical Engineering 9 Engineering Dr 1 Singapore117576 Singapore Stanford University Robotics Laboratory Department of Computer Science StanfordCA94305-9010 United States

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Toward affective cognitive robots for human-robot interaction

Toward affective cognitive robots for human-robot interactio...

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2005 AAAI Workshop

作者： Scheutz, M. Schermerhorn, P. Middendorff, C. Kramer, J. Anderson, Dave Dingler, Aaron Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)9781577353065

We present an architecture for complex affective robots for human-robot interaction. After describing our rationale for using affect as a means of "architectural integration", we give a quick conceptual example of how affect can play an organizational role in a complex agent and then describe our proposed affective architecture, its functionality and implementation, and results from experimental evaluations on an autonomous robot. Copyright © 2002, American Association for Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Toward affective cognitive robots for human-robot interaction

Toward affective cognitive robots for human-robot interactio...

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20th National Conference on Artificial Intelligence and the 17th Innovative Applications of Artificial Intelligence Conference, AAAI-05/IAAI-05

作者： Scheutz, M. Kramer, J. Middendorff, C. Schermerhorn, P. Heilman, M. Anderson, D. Bui, P. Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

关键词： Intelligent robots

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Autonomous terrain mapping and classification using hidden Markov models

Autonomous terrain mapping and classification using hidden M...

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2005 IEEE International Conference on robotics and Automation

作者： Wolf, Denis F. Sukhatme, Gaurav S. Fox, Dieter Burgard, Wolfram Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA United States Robotics and State Estimation Laboratory Department of Computer Science and Engineering University of Washington Seattle WA United States Department of Computer Science University of Freiburg Freiburg Germany

ISBN: (纸本)078038914X

This paper presents a new approach for terrain mapping and classification using mobile robots with 2D laser range finders. Our algorithm generates 3D terrain maps and classifies navigable and non-navigable regions on those maps using Hidden Markov models. The maps generated by our approach can be used for path planning, navigation, local obstacle avoidance, detection of changes in the terrain, and object recognition. We propose a map segmentation algorithm based on Markov Random Fields, which removes small errors in the classification. In order to validate our algorithms, we present experimental results using two robotic platforms. ©2005 IEEE.

关键词： Mobile robots

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A low-cost prototype ROV for monitoring of New Orleans aquatic environments

A low-cost prototype ROV for monitoring of New Orleans aquat...

引用

Conference on Underwater Intervention, UI 2005

作者： Xu, Bin Pandian, Shunmugham R. Abe, Seiji Electrical Engineering and Computer Science Dept. Tulane University New Orleans LA 70118 United States Department of Robotics Ritsumeikan University Kusatsu 525-8577 Japan

ISBN: (纸本)9781605601298

New Orleans is situated below sea level and is surrounded by major aquatic environments of economic and strategic importance (viz., Mississippi River, Gulf of Mexico, and Lake Pontchartrain). Underwater robots can play a significant role in the monitoring of these ecosystems, from the viewpoint of environmental pollution, coastal erosion, homeland security, and hurricane and flood control. This paper presents details of Tulane Underwater Navigator (TUNA), a low-cost prototype ROV designed to monitor shallow water environments. It carries vision and other navigation sensors, and is fitted with environmental sensors. The ROV is controlled by a laptop computer, enabling real-time data acquisition and Internet-based access.

关键词： Robots

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