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Optimal Protraction of a Three-Joint Robot Leg

IFAC Proceedings Volumes 2008年第2期41卷 1703-1710页

作者： Mustafa Suphi Erden Kemal Leblebicioğlu BioMechanical Engineering Intelligent Mechanical Systems Group Delft university of Technology Delft 2628 CD The Netherlands (Tel: +31 (0)15 27 86794 Department of Electrical & Electronics Engineering Computer Vision and Intelligent Systems Research Laboratory Middle East Technical University Ankara 06531 Turkey (Tel: +90 (0)312 210 4558

In this paper protraction movement, namely stepping ahead, of a three joint robot leg is optimized for energy efficiency for any given pair of initial-final tip point positions. For the optimization a modified version of gradient descent based optimal control algorithm with Hamiltonian formulation is used. The objective function is modified in steps to jump over the infeasible and inefficient local optimums. The results of 79 optimizations are used to construct a radial basis function neural network (RBFNN) in order to interpolate between the optimized trajectories. The results are presented and discussed in the paper.

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Investigating implicit shape representations for alignment of livers from serial CT examinations

Investigating implicit shape representations for alignment o...

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IEEE International Symposium on Biomedical Imaging

作者： Nathan D. Cahill Grace Vesom Lena Gorelick Joanne Brady J. Alison Noble J. Michael Brady Institute of Biomedical Engineering University of Oxford Oxford UK Research & Innovation Carestream Health Inc. Rochester NY USA Computer Vision Group Weizmann Institute of Science Rehovot Israel Department of Oncology Churchill Hospital Oxford UK Wolfson Medical Vision Laboratory University of Oxford Oxford UK

In this paper, we examine the use of implicit shape representations for nonrigid registration of serial CT liver examinations. Using ground truth in the form of corresponding landmarks manually labeled by a radiotherapist, we carry out an experiment to determine whether nonrigid registration performs better when applied to the original image data or to images constructed from implicit representations of the liver. We compare a variety of standard regularizers (elastic, diffusion, and curvature), similarity measures (sum of squared differences and mutual information), and weighting factors, using three different implicit shape representations: the Euclidean Distance Transform, the Poisson Transform (based on the expected hitting time of a random walk), and a new transform designed to highlight concavities in the shape.

关键词： Liver Computed tomography Image registration Shape measurement Displacement measurement Biomedical imaging Mutual information Euclidean distance Transforms Integral equations

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Using a patient image archive to diagnose retinopathy

Using a patient image archive to diagnose retinopathy

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Kenneth W. Tobin Michael D. Abramoff Edward Chaum Luca Giancardo V. Priya Govindasamy Thomas P. Karnowski Matthew T.S. Tennant Stephen Swainson Image Science and Machine Vision Group Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering University of Iowa Iowa IA USA Department of Ophthalmology and Visual Sciences University of Iowa Hospitals and Clinics Iowa IA USA Tennessee Health Science Center Hamilton Eye Institute Memphis TN USA Oak Ridge National Laboratory Oak Ridge TN USA Department of Ophthalmology University of Alberta Edmonton Canada Faculty of Medicine University of Alberta AB Canada

Diabetes has become an epidemic that is expected to impact 365 Million people worldwide by 2025. Consequently, diabetic retinopathy is the leading cause of blindness in the industrialized world today. If detected early, treatments can preserve vision and significantly reduce debilitating blindness. Through this research we are developing and testing a method for automating the diagnosis of retinopathy in a screening environment using a patient archive and digital fundus imagery. We present an overview of our content-based image retrieval (CBIR) approach and provide performance results for a dataset of 98 images from a study in Canada when compared to an archive of 1,355 patients from a study in the Netherlands. An aggregate performance of 89% correct diagnosis is achieved, demonstrating the potential of automated, web-based diagnosis for a broad range of imagery collected under different conditions and with different cameras.

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vision-based target geo-location using feature tracking

Vision-based target geo-location using feature tracking

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AIAA Guidance, Navigation, and Control Conference 2007

作者： Pachter, Meir Ceccarelli, N. Chandler, P.R. Department of Electrical and Computer Engineering Air Force Institute of Technology Air Force Research Laboratory Wright-Patterson Air Force Base OH 45433 United States Dept. of Electrical and Computer Engineering NRC Air Force Research Laboratory AFRL/VACA United States

ISBN: (纸本)1563479044

A method for determining the location of a fixed ground target when imaged from the air using a camera equipped Micro Air Vehicle (MAV) is developed. The ground objects' elevation is assumed known. Rather than a "one shot" affair, multiple bearing measurements of the ground object taken as the aircraft flies around the target are used. This makes it possible for the adverse effects of both the random measurement errors and the systematic measurement errors, a.k.a., attitude sensor biases, to be mitigated. The main result of this paper is that when bearing measurements of a target are taken over time, the target's position and the MAVs systematic attitude measurement errors can be jointly estimated using linear regression. As a result, the target is accurately geo-located and the attitude sensors are calibrated. If only one target bearing measurement can be taken, the attitude sensors will be calibrated prior to arrival at the target area using an Initial Point (IP). The technique has been successfully tested on actual flight data.

关键词： Target tracking

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Detecting Changes in Multispectral Satellite Images using Time Dependent Angle Vegetation Indices

Detecting Changes in Multispectral Satellite Images using Ti...

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International Conference on Recent Advances in Space Technologies (RAST)

作者： Cemr Unsalan Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey

Change detection using satellite images is of major concern to government agencies, military, and scientists. Government agencies can monitor the construction activity on a region automatically by detecting changes. They can update maps accordingly. Forests in satellite images may be monitored automatically for any change in their condition. As for military applications, strategic plans may be updated based on the observed changes on targets. After a natural disaster, even if that region can not be reached, automatically detecting changes in the region's satellite image may provide necessary information to measure the effect of the damage. To solve all these and related problems, there exists commercially available high resolution satellite images. The problem here is automatically detecting changes using these images. In this study, we introduce a method using multispectral information to detect changes on Ikonos imagery.

关键词： Vegetation mapping Military satellites Principal component analysis Image resolution Government computerized monitoring Spatial resolution computer vision Condition monitoring Remote sensing

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Measuring Land Development in Urban Regions using Graph Theoretical Features

Measuring Land Development in Urban Regions using Graph Theo...

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International Conference on Recent Advances in Space Technologies (RAST)

作者： Cemr Unsalan Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey

Inferring land use from satellite images is studied extensively. In previous studies, the focus was on classifying large regions due to the resolution of available satellite images. Nowadays, very high resolution satellite imagery (Ikonos and Quickbird) allow researchers to focus on more complex land use problems such as monitoring development in urban regions. Solutions to these complex problems may improve life standards of city residents. To this end, we focus on automatically monitoring construction zones using their very high resolution panchromatic satellite images through time. To monitor land development, we obtain sequential images of a selected region. Then, we extract features from each image in the sequence. Comparing values of these features, we expect to measure the degree of land development through time. Here, we introduce four new graph theoretical features to the existing ones. We test all our existing and new features to measure land development in 19 different urban construction zones. Our test set consists of Ikonos satellite images of these regions imaged in separate times.

关键词： Satellites Image resolution Gray-scale Time measurement Spatial resolution Monitoring Cities and towns Testing Electric variables measurement computer vision

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Editorial: Knowledge engineering, semantics, and signal processing in audio - visual information retrieval

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IEEE Transactions on Circuits and Systems for Video Technology 2007年第3期17卷 257-258页

作者： Izquierdo, Ebroul Zhang, Jian Sikora, Thomas Huang, Thomas S. Department of Electrical Engineering Queen Mary University of London London El 4NS United Kingdom Sydney Australia School of Computer Science and Engineering University of New South Wales Australia Communication Systems Group Technical University Berlin Berlin Germany ITG University of Illinois at Urbana-Champaign United States Department of Electrical and Computer Engineering Coordinated Science Laboratory United States Image Formation and Processing Group Beckman Institute for Advanced Science and Technology United States Institute's Major Research Theme Human Computer Intelligent Interaction National Academy of Engineering Chinese Academies of Engineering and Sciences China International Association of Pattern Recognition Optical Society of American United States

No abstract available

关键词： Special issues and sections Knowledge engineering Information retrieval Audio-visual systems

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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vision aided proportional navigation for micro air vehicles

Vision aided proportional navigation for micro air vehicles

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AIAA Guidance, Navigation, and Control Conference 2007

作者： Beard, Randal W. Will Curtis, J. Eilders, Martin Evers, Johnny Cloutier, James R. Brigham Young University Provo UT 84602 United States Air Force Research Laboratory Eglin AFB FL 32542-6810 United States Department of Electrical and Computer Engineering AIAA Munitions Directorate Guidance and Navigation Branch Control Systems Research

ISBN: (纸本)1563479044

Most of the applications envisioned for micro air vehicles require an on-board E(MR camera. It is only natural to investigate using the on-board camera as a sensor for navigation, guidance, and control. This paper investigates the use of an EO/IR sensor as a seeker in a proportional navigation guidance law for micro air vehicles. Proportional navigation strategies require knowledge of the line-of-site rates and range rate between the vehicle and the target. This paper demonstrates how these quantities can be derived from pixel-specific information provided by an EO/IR sensor. The guidance laws are developed for gimbaled and strapdown sensors on both skid-to-turn and bank-to-turn MAV kinematic models.

关键词： Navigation

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