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ViperRoos: Developing a low cost local vision team for the small size league

引用

5th Robot World Cup Soccer Games and Conferences, RoboCup 2001

作者： Chang, Mark M. Browning, Brett Wyeth, Gordon F. Department of Computer Science and Electrical Engineering University of Queensland St Lucia QLD 4072 Australia Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States

The development of cheap robot platforms with on-board vision remains one of the key challenges that robot builders have yet to surmount. In this paper we describe the prototype development of a low cost (

ISBN: (纸本)3540439129

关键词： Costs

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Localization of miniature mobile robots using constant curvature dynamic contours

Localization of miniature mobile robots using constant curva...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D.P. Perrin E. Kadioglu S.A. Stoeter N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

Presents a method for localizing miniature mobile robots (Scouts) using dynamic contours. An observer robot with a camera follows the miniature robot as it moves and jumps in the workspace. Dynamic contours are very effective in tracking the fast accelerations and decelerations of the Scout robot. We show initial experimental results with particular emphasis on the task of monitoring a Scout during jumps.

关键词： Mobile robots Cameras Target tracking Robot vision systems Acceleration Monitoring Orbital robotics Shape computer science Springs

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Communication and mobility enhancements to the Scout robot

Communication and mobility enhancements to the Scout robot

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Drenner I. Burt B. Kratochvil B.J. Nelson N. Papanikolopoulos K.B. Yesom Center for Distributed Robotics and Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Center for Distributed Robotics and Dept. of Computer Science and Engineering University of Minnesota USA Center for Distributed Robotics and Dept. of Computer Science and Engineering University of Minnesota Dept. of Mechanical Engineering University of Minnesota

Small scale distributed robotic systems are ideal for tasks that larger, more expensive robots may not be able to undertake such as surveillance or inspection in enclosed areas. Small scale robots also have the advantage of being easily portable to an area of interest. However, the advantages related to the small size and portability cause an increase in the complexity of development. In addition, the more pronounced effects of interacting with the environment in terms of mobility and communications lead to robotic systems of limited functionality. In order to address such deficiencies, several novel developments and improvements have been made to the Scout robot, which will be discussed. These improvements include the development of a communication relay system facilitating longer distance operation, an improved actuating wheel system increasing the Scout's mobility and a grappling hook system to elevate the Scout. By enhancing the Scout robotic team in this way, the functional use of the team is expanded, allowing more practical use.

关键词： Mobile robots Robot sensing systems Wheels Surface cracks computer science Inspection Relays Radio frequency Sensor systems Hardware

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Using intrinsic images for shadow handling

Using intrinsic images for shadow handling

引用

International Conference on Intelligent Transportation

作者： R.F.K. Martin O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Laboratory Department of Computer Science and Engineering University of Minnesota USA

The ability to detect shadows is a critical feature of any intelligent transportation system (ITS). The improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. As vision-based ITS applications are becoming more popular, it is important to minimize the effects of shadows. Here, we present a novel method for shadow handling in a sequence of images. Following recent work motivated by studies of the statistics of natural images, we show that this new method is a reliable detector of shadows and can be easily implemented in real-time.

关键词： Intelligent transportation systems Vehicle detection Artificial intelligence Intelligent robots Vehicles Layout Magnetic analysis computerized monitoring computer vision Image edge detection

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Real-time tracking for managing suburban intersections

Real-time tracking for managing suburban intersections

引用

International Conference on Digital Signal Processing (DSP)

作者： H. Veeraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Lab Department of Computer Science and Engineering University of Minnesota USA

The goal of this project is to develop a passive vision-based sensing system capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera mounted at an arbitrary position looking at an intersection is used. However, for extended applications multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and predicting collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the Stauffer method for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Monitoring Accidents Calibration Gaussian processes

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Evolutionary design of fuzzy system for various problems including vision based mobile robot control

Evolutionary design of fuzzy system for various problems inc...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Min-Soeng Kim Sun-Gi Hong Ju-Jang Lee Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea Hanwool Robotics Corporation Daejeon South Korea

In this paper, a new evolutionary scheme for designing fuzzy logic system is proposed. We have developed a new fitness function for optimizing membership functions of antecedent parts of FLS. The proposed fitness function considers not only mean squared error, but also calculates some penalty based on the overlapping degree of adjacent membership functions for the same input. Consequent parts of the FLS are calculated using pseudo-inverse method. To show the effectiveness of the proposed algorithm, we have applied the proposed algorithm to various problems: Iris classification problem, Mackay-Glass time-series prediction problem and vision-based mobile robot control problem. It has been proven that, without much modification, the proposed algorithm can be used in various problem fields efficiently.

关键词： Fuzzy systems Mobile robots Robot control Control systems Fuzzy logic computer science Iris Fuzzy sets Humans Biological cells

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Vision-based monitoring of intersections

Vision-based monitoring of intersections

引用

International Conference on Intelligent Transportation

作者： H. Vceraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence University of Minnesota Vision and Robotics Laboratory Department of Computer Science and Engineering Artificial Intelligence University of Minnesota USA

The goal of tills project Is to develop a passive vision-based sensing system. The system will be capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera looking at all intersection from an arbitrary position is used. However, for extended applications, multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and situations giving rise to collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the method of Stauffer et at. for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of the blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Monitoring Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Accidents Calibration Gaussian processes

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots robotics and automation Humans Graphics Virtual environment Machine vision computer science Augmented virtuality

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A low cost embedded color vision system

A low cost embedded color vision system

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Rowe C. Rosenberg I. Nourbakhsh Electrical and Computer Engineering Department Carnegie Mellon University Pittsburgh PA USA Computer Science Department Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

In this paper we describe a functioning low cost embedded vision system which can perform basic color blob tracking at 16.7 frames per second. This system utilizes a low cost CMOS color camera module and all image data is processed by a high speed, low cost microcontroller. This eliminates the need for a separate frame grabber and high speed host computer typically found in traditional vision systems. The resulting embedded system makes it possible to utilize simple color vision algorithms in applications like small mobile robotics where a traditional vision system would not be practical.

关键词： Machine vision Cost function CMOS process Color CMOS image sensors Cameras Microcontrollers computer vision Embedded system Application software

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Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity

Adaptive tracking and regulation of a wheeled mobile robot w...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： W.E. Dixont M.S. de Queiroz D.M. Dawson Engineering Science and Technology Div.-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Department of Mechanical Engineering Louisiana State University Baton Rouge LA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

In this paper, we develop an adaptive torque control input for wheeled mobile robots (WMRs) that can be utilized in a modular manner with parameter estimate update laws to enable unified tracking and regulation, that is, a prediction error based update law ensures the parameter estimate vector is bounded, all of the signals are proven to be bounded. An additional stability analysis is provided to prove that if the adaptive update law is designed such that the prediction error is square-integrable and the estimated inertia matrix is positive-definite, the WMR tracking and regulation errors are globally asymptotically forced to a control term that can be made arbitrarily small.

关键词： Programmable control Adaptive control Mobile robots Robot control Kinematics Vehicle dynamics Parameter estimation Error correction Target tracking Weight control

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