检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bruno D. Gouveia David Portugal Lino Marques Institute of Systems and Robotics Dept. Electrical and Computers Eng. University of Coimbra 3030-290 Coimbra

ISBN: (纸本)9781479969357

In this work we explore multiprocessor computer architectures to propose an effective method for solving the Simultaneous Localization and Mapping Problem. The proposed method makes use of multithreading to parallelize a Rao-Blackwellized Particle Filter approach. By applying the method in common computers found in robots, it is shown that a significant gain in efficiency can be obtained. Furthermore, the parallel method enables us to raise the number of particles up to values that would not be possible in a single threaded solution, thus gaining in localization precision and map accuracy. In order to analyze SLAM results, frequently used datasets by the robotics community were used, and a benchmarking metric was applied.

关键词： Speeding Multithreading Particle filters simultaneous localization and mapping Robot Computer Architecture

来源：评论

学校读者我要写书评

暂无评论

A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Cid, Felipe Prado, Jose Augusto Bustos, Pablo Nunez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363587

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Gabor filters belief networks edge detection emotion recognition face recognition feature extraction human-robot interaction image classification

来源：评论

学校读者我要写书评

暂无评论

Exploring long-range correlations for text classification using a sparse distributed memory

Exploring long-range correlations for text classification us...

引用

2013 World Congress on engineering, WCE 2013

作者： Mendes, Mateus Coimbra, A. Paulo Crisostomo, Manuel M. Rodrigues, Jorge Polytechnic Institute of Coimbra ESTGOH Portugal Dept. of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9789881925282

The present paper describes exploratory work in which a Sparse Distributed Memory (SDM) was applied as a text classifier. The SDM is a type of associative memory based on the properties of high-dimensional spaces, where data are stored based on pattern similarity. The results obtained with the SDM are surprisingly good, for they can be achieved with little or none pre-processing. They are far superior to the performance of a "dumb classifier," though still inferior to the results obtained with other modern methods.

关键词： Classification (of information)

来源：评论

学校读者我要写书评

暂无评论

Scalable, Fault-Tolerant and Distributed Multi-Robot Patrol in Real World Environments

Scalable, Fault-Tolerant and Distributed Multi-Robot Patrol ...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： David Portugal Rui P. Rocha Institute of Systems and Robotics (ISR) Dept. of Electrical and Computers Eng. University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781467363563

Despite the focus that multi-robot patrolling has received recently, there is a manifest lack of practical real-world implementations of such systems. Beyond that, the existing ones have been mainly focused on centralized policies to coordinate the team of agents. The present work addresses realistic patrol in indoor environments with teams of arbitrary number of autonomous robots performing a distributed, scalable and fault-tolerant strategy for multi-robot coordination in patrolling missions. Agents decide their actions locally and adapt to the system's needs using distributed communication. The work is validated through experiments in a large indoor real-world environment with a team of autonomous mobile robots.

关键词： system's actions locally adapt Adapt Teams Fault tolerance autonomous mobile robot PATROLLING Autonomous robots Scalability indoor environment Environments distributed communication Distribute

来源：评论

学校读者我要写书评

暂无评论

A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Felipe Cid Jose Augusto Prado Pablo Bustos Pedro Nunez Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363563

关键词： Imitation approach emotion context of affective Human Robot Interaction

来源：评论

学校读者我要写书评

暂无评论

Multiple Model Adaptive Estimation for open loop unstable plants

Multiple Model Adaptive Estimation for open loop unstable pl...

引用

European Control Conference (ECC)

作者： Vahid Hassani António M. Pascoal A. Pedro Aguiar Michael Athans LARSyS Portugal Norwegian Marine Technology Research Institute (MARINTEK) Trondheim Norway The Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Univ. Técnica de Lisboa (UTL) Lisbon Portugal LARSyS and the Dept. of Electrical and Computer Engineering University of Porto (FEUP) Porto Portugal

ISBN: (纸本)9781479901890

This paper addresses the problem of adaptive state and parameter estimation of open loop unstable plants using a multiple model structure. A state estimate is obtained as a probabilistically weighted sum of the estimates produced by a bank of individual observers. Model identification and convergence of the dynamic weights in the Multiple Model Adaptive Estimation (MMAE) for open-loop unstable plants are analyzed and the effect of the control action (by a controller in the loop) is studied. In the present paper we show that the techniques introduced in MMAE for open-loop stable plants and in the absence of control action are applicable to open-loop unstable plants with a stabilizing controller in the loop. A distance-like pseudo norm between the true plant and the identified model is developed and furthermore we show that the model identified is the one that is the closest to the true plant model in the defined norm among all models in the bank. The performance and convergence of the MMAE procedure are illustrated with Monte-Carlo simulation runs using the model of an inverted pendulum installed on a system of masses, springs, and dampers.

关键词： Adaptation models Mathematical model Observers Silicon Adaptive estimation

来源：评论

学校读者我要写书评

暂无评论

Improved SDM-based robot navigation using image processing techniques

Improved SDM-based robot navigation using image processing t...

引用

2012 World Congress on engineering, WCE 2012

作者： Mendes, Mateus Coimbra, A. Paulo Crisóstomo, Manuel M. ISR - Institute of Systems and Robotics Dept. of Electrical and Computer Engineering University of Coimbra Portugal ESTGOH Polytechnic Institute of Coimbra Portugal

ISBN: (纸本)9789881925213

Intelligent robot navigation is a broad area of research. Vision-based approaches deserve special attention, for being biologically inspired, inexpensive and powerful. However, problems such as illumination changes, scenario changes and noise are difficult to overcome. In previous work the authors developed algorithms to navigate a robot based on sequences of visual memories stored into a Sparse Distributed Memory—a kind of associative memory suitable to work with high-dimensional binary vectors, which also exhibits behaviours in many aspects similar to those of the human brain. This paper analyses the impact of using different image processing techniques on the images used: histogram equalisation, contrast normalisation and smoothing using a Gaussian filter. The results show that equalisation and smoothing have a positive effect on the performance of the system. © 2012 Newswood Limited. All rights reserved.

关键词： Equalizers

来源：评论

学校读者我要写书评

暂无评论

Disturbance rejection using an intelligent computing control technique for a biped robot

Disturbance rejection using an intelligent computing control...

引用

2012 World Automation Congress, WAC 2012

作者： Ferreira, Joao P. Crisostomo, Manuel Coimbra, A. Paulo Dept. of Electrical Engineering Superior Institute of Eng. of Coimbra Coimbra Portugal Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9781467344975

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

AUV terrain-aided doppler navigation using complementary filtering

AUV terrain-aided doppler navigation using complementary fil...

引用

9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

作者： Teixeira, Francisco Curado Quintas, João Pascoal, António Center for Environmental and Marine Studies Dept. GeoSciences University of Aveiro 3810 - 193 Aveiro Portugal Institute for Systems and Robotics Dept. Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais 1 1049 - 001 Lisboa Portugal

ISBN: (纸本)9783902823601

This paper addresses the challenging problem of achieving truly autonomous longrange navigation of underwater vehicles relying on affordable navigation sensors. Terrain-aided navigation (TAN) is a methodology that holds potential to solve this problem by dispensing with the need to use high-grade, inertial navigation sensors and the deployment and calibration of acoustic beacons. To implement TAN without incurring the additional cost of expensive dedicated sensors, we propose the utilization of a Doppler velocity logger (DVL) which is an equipment of widespread utilization in oceanography and also a standard instrument in underwater navigation. We avail ourselves of a less exploited characteristic of DVL sensors that consists in the ability to acquire, simultaneously with the velocity data, a set of accurate range measurements relatively to a reflective interface. The combination of these sensing capacities enables Doppler units to be used not only in dead-recknoning navigation but also in terrainbased localization of underwater vehicles. The main contribution of the paper is the design of a complementary filter (CF) for fusion of TAN estimates with DVL measurements. The CF approach is motivated by the need to reduce the short-term variability of position estimates that is typically observed in conventional TAN. The solution proposed is analysed in comparison with a well-known Rao-Blackwellized particle filter set-up which is shown to implement a data fusion filter designed in a stochastic estimation framework. The results obtained in Monte Carlo simulations performed with real bathymetric data evidence the superior performance of the complementary filter approach in terms of position estimation accuracy and long term output signal stability. © IFAC.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

Assessing the performance of SDM-based robot navigation with different image processing techniques

IAENG International Journal of Computer Science

引用

IAENG International Journal of Computer Science 2012年第4期39卷 349-356页

Vision is one of the preferred sources of perceptions to implement intelligent robot navigation: it is biologically inspired, requires inexpensive hardware and a single image does contain huge amounts of information. However, problems such as illumination changes, scenario changes and electric noise in the image sensors pose challenges which are difficult to overcome. In previous work the authors developed algorithms to navigate a robot based on sequences of visual memories stored into a Sparse Distributed Memory - a kind of associative memory suitable to work with high-dimensional binary vectors, which also exhibits behaviours in many aspects similar to those of the human brain. This paper analyses the impact of using different image processing techniques to minimise the impact of noise in the images used: histogram equalisation, contrast normalisation and smoothing using a Gaussian filter. The results show that equalisation and smoothing have a positive effect on the performance of the system.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：