检索结果-内蒙古大学图书馆

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： R. Singh V. Cherkassky N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Department of Electrical Engineering University of Minnesota Minneapolis MN USA

A variety of techniques in machine vision involve representation of objects by using their shape skeleton. In this paper we present a method to obtain the skeletal shape of binary images in the presence of both boundary noise and noise occurring inside object regions. We propose to obtain the skeletal shape of such images by a modified version of the Kohonen self-organizing map, implemented in a batch processing mode. The modifications allow the map to adapt to the input shape distribution. At each iteration, a competitive Hebbian rule is used to progressively compute the Delaunay triangulation of the shape. Information from the triangulation augments the map topology to yield the final skeletal shape. The batch mode implementation of the self-organizing process, allows our approach to compare very favourably, in terms of computational time, with the traditional flowthrough implementations. Encouraging experimental performance has been obtained on a variety of shapes under varying signal to noise ratios.

关键词： Shape Noise shaping Skeleton Intelligent robots Machine vision computer vision Noise level Noise figure Machine intelligence Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

High-speed extraction of 3D structure of selectable quality using a translating camera

引用

computer vision AND IMAGE UNDERSTANDING 1996年第1期64卷 97-110页

作者： Dalmia, AK Trivedi, M Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee 37996-2100

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds, This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera, Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, interframe camera displacement, and number of frames in a stream are chosen to control the resolution, depth of field, and accuracy, The acquisition and processing of the image stream are done in real time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the system's accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between image acquisition and processing. The total acquisition and processing time in these experiments is in the range from 0.27 to 1.56 s. The depth results have an accuracy of 85% to 92%. (C) 1996 Academic Press, Inc.

关键词： computer vision

来源：评论

学校读者我要写书评

暂无评论

Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

引用

13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

引用

International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

来源：评论

学校读者我要写书评

暂无评论

EXPERIMENTS IN ACTIVE vision WITH REAL AND VIRTUAL ROBOT HEADS

引用

APPLIED INTELLIGENCE 1995年第3期5卷 237-250页

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee 37996-2100 Knoxville TN

In the emerging paradigm of animate vision, the visual processes are not thought of as being independent of cognitive or motor processing, but as an integrated system within the context of visual behavior. Intimate coupling of sensory and motor systems have found to improve significantly the performance of behavior based vision systems. In order to study active vision systems one requires sensory-motor systems. Designing, building, and operating such a test bed is a challenging task. In this paper we describe the status of on-going work in developing a sensory-motor robotic system, R2H, with ten degrees of freedoms (DOF) for research in active vision. To complement the R2H system a Graphical Simulation and Animation (GSA) environment is also developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. GSA system aids the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, it's sensors and it's workspace. With the aid of the GSA environment a Depth from Focus (DFF), Depth from Vergence, and Depth from Stereo modules are implemented and tested. The power and usefulness of the GSA system as a research tool is demonstrated by acquiring and analyzing images in the real and virtual worlds using the same software implemented and tested in the virtual world.

关键词： ACTIVE vision ROBOT HEADS ROBOT SIMULATION DEPTH EXTRACTION

来源：评论

学校读者我要写书评

暂无评论

RESIDUAL UNCERTAINTY IN 3-DIMENSIONAL RECONSTRUCTION USING 2-PLANES CALIBRATION AND STEREO METHODS

引用

PATTERN RECOGNITION 1995年第7期28卷 1073-1082页

作者： THAYER, S TRIVEDI, M Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory The University of Tennessee Knoxville TN 37996-2100 U.S.A.

A necessary goal in the calibration of any instrument is an indication of how well the particular device performs. In the specific case where a camera system is used in the process of three-dimensional reconstruction or stereopsis, geometric measures of the accuracy, precision, and repeatability of 3-D point measurements give a quantitative evaluation of the success of that algorithm. This paper presents an experimental performance analysis of a traditional calibration algorithm as applied to the problem of three-dimensional vision. The study begins with an analysis of the algorithm in a single camera or monocular system. Monocular analysis concludes with a derivation of error boundaries under different. geometric constraints. Showing how this residual error propagates from the component monocular systems into a three-dimensional reconstruction, a binocular analysis derives the desired performance monitors. The paper concludes with a geometric interpretation of the results.

关键词： STEREOPSIS ACCURACY PRECISION REPEATABILITY MONOCULAR BINOCULAR 2-PLANES CALIBRATION

来源：评论

学校读者我要写书评

暂无评论

ROBOT PERFORMANCE-MEASUREMENT AND CALIBRATION USING A 3D computer vision SYSTEM

引用

ROBOTICA 1995年第4期13卷 327-337页

作者： PREISING, B HSIA, TC Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis California 95616 (USA)

Present day robot systems are manufactured to perform within industry accepted tolerances. However, to use such systems for tasks requiring high precision, various methods of robot calibration are generally required. These procedures can improve the accuracy of a robot within a small volume of the robot's workspace. The objective of this paper is to demonstrate the use of a single camera 3D computer vision system as a position sensor in order to perform robot calibration. A vision feedback scheme, termed vision-guided Robot Control (VRC), is described which can improve the accuracy of a robot in an on-line iterative manner. This system demonstrates the advantage that can be achieved by a Cartesian space robot control scheme when end effector position/orientation are actually sensed instead of calculated from the kinematic equations. The degree of accuracy is determined by setting a tolerance level for each of the six robot Cartesian space coordinates. In general, a small tolerance level requires a large number of iterations in order to position the end effector, and a large tolerance level requires fewer iterations. The viability of using a vision system for robot calibration is demonstrated by experimentally showing that the accuracy of a robot can be drastically improved. In addition, the vision system can also be used to determine the repeatability and accuracy of a robot in a simple, efficient, and quick manner. Experimental work with an IBM Electric Drive Robot (EDR) and the proposed vision system produced a 97 and a 145 fold improvement in the position and orientation accuracy of the robot, respectively.

关键词： 3D vision ROBOT PERFORMANCE CALIBRATION POSITION SENSOR

来源：评论

学校读者我要写书评

暂无评论

Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

引用

IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

来源：评论

学校读者我要写书评

暂无评论

Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

来源：评论

学校读者我要写书评

暂无评论

Adaptive visual tracking algorithm and real-time implementation

Adaptive visual tracking algorithm and real-time implementat...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Colmputer Engineerirrg Department University of Tennessee Knoxville TN USA University of Tennessee Knoxville Knoxville TN US Dept. of Electr. & Comput. Eng. Tennessee Univ. Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The minimum noise and correlation energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 Hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation.

关键词： Target tracking Cameras Robot vision systems Filters Visual servoing Image motion analysis computer vision Laboratories Power engineering and energy Pipelines

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：