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IEEE Conference on Decision and Control

作者： N.P. Papanikolopoulos B. Nelson P.K. Khosla Department of computer Science University of Minnesota Minneapolis MN USA Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The framework of controlled active vision is applied to the problem of monocular full 3-D robotic visual tracking (three translations and three rotations). Full 3-D tracking of a moving target by a monocular hand-eye system is demonstrated. A single camera is used. A simple adaptive scheme is proposed, and the relative distance of the target from the camera is assumed to be partially unknown. The number of parameters that must be estimated online is minimal, resulting in a feasible real-time implementation of the scheme. The strong coupling of the rotational and translational degrees of freedom is treated in a way that guarantees robust tracking of the object. The limitations of the approach are discussed, and the results from its application to the TROIKABOT system (a set of three PUMA 560's manipulators) are presented.< >

关键词： Target tracking Robot vision systems Cameras Robustness

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Adaptive control techniques for dynamic visual repositioning of hand-eye robotic systems

Adaptive control techniques for dynamic visual repositioning...

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IEEE Workshop on Applications of computer Vision (WACV)

作者： N.P. Papanikolopoulos P.K. Khosla Department of Computer Science University of Minnesota Minneapolis MN USA Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Using active monocular vision for 3-D visual control tasks is difficult since the translational and the rotational degrees of freedom are strongly coupled. The paper addresses several issues in 3-D visual control and presents adaptive control schemes for the problem of robotic visual servoing (eye-in-hand configuration) around a static rigid target. The objective is to move the image projections of several feature points of the static rigid target to some desired image positions. The inverse perspective transformation is assumed partially unknown. The adaptive controllers compensate for the servoing errors, the partially unknown camera parameters, and the computational delays which are introduced by the time-consuming vision algorithms. The authors present a stability analysis along with a study of the conditions that the feature points must satisfy in order for the problem to be solvable. Finally, several experimental results are presented to verify the validity and the efficacy of the proposed algorithms.< >

关键词： Adaptive control Robot vision systems Cameras Robot sensing systems Visual servoing computer vision Robot control Target tracking Manipulators Neural networks

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Obstacle detection for a vehicle using optical flow

Obstacle detection for a vehicle using optical flow

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1992 Intelligent Vehicles Symposium, IVS 1992

作者： Young, G.-S. Hong, T.-H. Herman, M. Yang, J.C.S. Bldg 220 Rm B124 GaithersburgMD2089 United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Department of Computer Science and Informatim System American University WashingtonDC20016 United States

ISBN: (纸本)078030747X

A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain. A linear relationship, plotted as a line and called a reference flow line, has been found. This reference flow line can be used to detect discrete obstacles above or below the reference terrain. Slopes of surface regions are also computed. The approach is simple, fast, and robust because: (1) the only required information is one component of the optical flow, (2) each image line can be processed in parallel, and (3) the error sources involved are reduced to a minimum. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method. © 1992 IEEE.

关键词： Landforms

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Efficient distance computation using best ellipsoid fit

Efficient distance computation using best ellipsoid fit

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E. Rimon S.P. Boyd Robotics Laboratory Department of Computer Science University of Stanford USA Information Systems Laboratory Department of Electrical Engineering University of Stanford USA

The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >

关键词： Ellipsoids Robots Shape measurement Laboratories Computational modeling Application software computer science Information systems Data structures Eigenvalues and eigenfunctions

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Edge detection using orthogonal moment-based operators

Edge detection using orthogonal moment-based operators

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International Conference on Pattern Recognition

作者： S. Ghosal R. Mehrotra Department of Electrical Engineering Center for Robotics & Manufacturing Systems University of Kentucky Lexington KY USA Department of Computer Science Center for Robotics & Manufacturing Systems University of Kentucky Lexington KY USA

Presents a new approach to detect step edges with subpixel accuracy. The proposed approach is based on a set of orthogonal complex moments of the image known as Zernike moments. An ideal 2-D step edge is modeled in terms of four parameters: the background gray level, the step size, the distance of the edge from the center of the mask, and the orientation of the edge. Discrete Zernike moments are used to obtain a total of three masks to compute all the edge parameters for subpixel detection. For pixel-level edge detection only two masks (one real and one complex) are required. The theoretical analysis of the influence of noise on the location and the orientation of an edge is presented. This analysis reveals that the accuracy of the proposed approach is virtually unaffected by the additive noise. Experimental results are presented to demonstrate the efficacy of the proposed technique.< >

关键词： Image edge detection Image sampling Surface fitting Face detection Robots Additive noise Object detection Motion detection Machine vision Object recognition

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College Park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University DC USA

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported.< >

关键词： Kinematics Calibration Cameras Robot vision systems Helium Manipulators Equations NIST Laboratories Mechanical engineering

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Introducing robotic 'common sense' in real time dexterous manipulation

Introducing robotic 'common sense' in real time dexterous ma...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.P. Ananthanarayanan D. Gershon A.A. Goldenberg J. Mylopoulos Robotics and Automation Laboratory University of Toronto Toronto ONT Canada Faculty of Mechanical Engineering Technion-Israel Institute of Technology Haifa Israel Department of Computer Science University of Toronto Toronto ONT Canada

Describes the implementation of a real-time controller for dexterous manipulation with a hierarchical intelligent control architecture. The architecture is based on a blackboard model that enables incremental, opportunistic, and dynamic decision making and control. The following features have been incorporated into the dexterous robot hand controller: (1) controlling robot fingers using robotic common sense reasoning, based on qualitative representations of control variables and parameters; and (2) opportunistically switching between coarse qualitative control that is based on a physical model and conventional fine quantitative control that is based on a mathematical model. The controller was implemented on a multirobot grasping facility, and preliminary experimental results are presented.< >

关键词： Robot sensing systems Humans Mathematical model robotics and automation computer architecture Robot control Fingers Uncertainty Switches Laboratories

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Obstacle detection for a vehicle using optical flow

Obstacle detection for a vehicle using optical flow

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IEEE Symposium on Intelligent Vehicle

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University Washington D.C. DC USA

关键词： Vehicle detection Image motion analysis Optical sensors Biomedical optical imaging Navigation Land vehicles Cameras Road vehicles Robustness Remotely operated vehicles

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Edge detection models based on Gabor filters

Edge detection models based on Gabor filters

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International Conference on Pattern Recognition

作者： K.R. Namuduri R. Mehrotra N. Ranganathan Department of Computer Science and Engineering University of South Florida Tampa FL USA Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Center for Microelectronics Research University of South Florida Tampa FL USA

The performance of a Gabor odd filter-based edge detector is investigated using the measures proposed by Canny. Based on this performance analysis a design criterion for 1-D Gabor filter-based edge detector is derived. It is shown that this design criterion holds good for a 2-D Gabor filter-based edge detector as well. Experimental results are presented to demonstrate the significance of the proposed design criterion.< >

关键词： Image edge detection Gabor filters Detectors Signal to noise ratio Equations Performance analysis Frequency computer science Robots Systems engineering and theory

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A LITERATURE-REVIEW - ROBOTS IN MEDICINE

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IEEE engineering IN MEDICINE AND BIOLOGY MAGAZINE 1991年第2期10卷 13-&页

作者： PREISING, B HSIA, TC MITTELSTADT, B Robotics Research Lab Department of Electrical Engineering and Computer Science University of California Davis USA

Robotic systems employed in the laboratory, in rehabilitation, and in surgery are reviewed. The advantages of using a robot system over manual procedures in the laboratory to prepare samples is discussed, and some of the obstacles are noted. A typical laboratory robot is described. Rehabilitative applications in the major research areas of tactile sensors, assistive devices for the blind, prosthetics, and orthotics are examined. Manipulators that can help a disabled individual with important everyday tasks and other assistive robotic systems in rehabilitation are described. A variety of robots that assist or perform surgery is surveyed. These applications include positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.

关键词： orthotics Pharmaceutical Preparations Medicine Surgery Radial Keratotomy Robot System Robot tactile sensors Manipulators Auxiliary equipment Literature Review

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