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Conference on computer vision and Pattern Recognition (CVPR)

作者： L.A. Chan N.M. Nasrabadi V. Mirelli Department of Electrical and Computer Engineering State University of New York University at Buffalo Buffalo NY USA US Army Research Laboratory Fort Belvoir VA USA

An automatic target recognition (ATR) classifier is proposed that uses modularly cascaded vector quantizers (VQs) and multilayer perceptrons (MLPs). A dedicated VQ codebook is constructed for each target class at a specific range of aspects, which is trained with the K-means algorithm and a modified learning vector quantization (LVQ) algorithm. Each final codebook is expected to give the lowest mean squared error (MSE) for its correct target class at a given range of aspects. These MSEs are then processed by an array of window MLPs and a target MLP consecutively. In the spatial domain, target recognition rates of 90.3 and 65.3 percent are achieved for moderately and highly cluttered test sets, respectively. Using the wavelet decomposition with an adaptive and independent codebook per sub-band, the VQs alone have produced recognition rates of 98.7 and 69.0 percent on more challenging training and test sets, respectively.

关键词： Target recognition Multilayer perceptrons Vector quantization Books Pixel Error correction codes Automatic testing System testing Area measurement

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Visibility analysis on a massively data-parallel computer

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Concurrency and Computation: Practice and Experience 1996年第6期8卷

作者： Daniel Germain Denis Laurendeau Guy Vézina Computer Vision and Systems Laboratory Electrical Engineering Department Université Laval Ste-Foy Québec Canada G1K 7P4 Command and Control and Information Sytems Division Defence Research Establishment Valcartier PO Box 8800 Courcelette Québec Canada G0A 1R0

Visibility analysis algorithms use digital elevation models (DEMs), which represent terrain topography, to determine visibility at each point on the terrain from a given location in space. This analysis can be computationally very demanding, particularly when manipulating high resolution DEMs accurately at interactive response rates. Massively data-parallel computers offer high computing capabilities and are very well-suited to handling and processing large regular spatial data structures. In the paper, the authors present a new scanline-based data-parallel algorithm for visibility analysis. Results from an implementation onto a MasPar massively data-parallel SIMD computer are also presented.

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EXPERIMENTS IN ACTIVE vision WITH REAL AND VIRTUAL ROBOT HEADS

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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

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

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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

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

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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

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Autonomous mobile robot navigation using fish-eye lenses 3rd

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3rd International computer Science Conference, ICSC 1995

作者： Shah, Shishir Aggarwal, J.K. Computer and Vision Research Center Department of Electrical and Computer Engineering The University of Texas at Austin AustinTX78712-1084 United States

ISBN: (纸本)9783540606970

We present an autonomous mobile robot navigation system using stereo fish-eye lenses for navigation in indoor structured environments. The system estimates the three-dimensional (3D) position of significant features in the environment, and by estimating its relative position, navigates through narrow passages and makes turns at the end of corridors. Fish-eye lenses are used to provide a large field of view, which helps in imaging objects close to the robot. The system is implemented and tested in a structured environment at our laboratory. Results from the robot navigation in real environments are presented. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Navigation

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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...

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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

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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

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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

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Fuzzy perceptual grouping in image understanding

Fuzzy perceptual grouping in image understanding

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： A.L. Ralescu J.G. Shanahan Department of Electrical & Computer Engineering University of Cincinnati USA Laboratory for lnternational Fuzzy Engineering Research Yokohama Japan

The image understanding work we present is part of a navigation support system. We explore the use of fuzzy techniques for image understanding via perceptual organization. A brief review of previous work on perceptual organization introduces our motivation for using fuzzy techniques for representation which in turns entails their use for reasoning about the result of the organization. The approach is supported by experimental results obtained for an office scene environment.< >

关键词： computer vision Humans Psychology Neuroscience Machine vision Visual perception Bayesian methods Laboratories Fuzzy systems Floors

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Adaptive visual tracking algorithm and real-time implementation

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

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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

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