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IEEE Workshop on Applications of computer vision (WACV)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee 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 3-D 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. The correlation filter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.< >

关键词： Target tracking Cameras Robot vision systems Visual servoing computer vision Adaptive filters Mobile robots Laboratories Power engineering and energy Pipelines

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Simulation and visualization of integrated sensory-motor systems

Simulation and visualization of integrated sensory-motor sys...

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IEEE Workshop on Visualization and Machine vision

作者： S.B. Marapane M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

A binocular robot head, BETH, with ten degrees of freedom (DOF) has been developed for research in active vision. To complement BETH, a graphical simulation and visualization environment has also been developed. The objective of building the graphical system is to create a comprehensive design tool to design and study the dynamic behavior of sensory-motor systems and their interactions with the environment. This environment integrates perception and motor actions and features complete kinematic simulation of BETH, it's sensors and it's workspace. We demonstrate the utility of this environment in systematic and extensive experimental development of computational frameworks and algorithms for 3D active vision systems which utilizes multiple passive depth cues (stereo, vergence, and depth from focusing).< >

关键词： Visualization Head Robot sensing systems Robot vision systems computer vision Computational modeling Buildings Focusing Image analysis Machine vision

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Acquisition of 3D structure of selectable quality from image streams

Acquisition of 3D structure of selectable quality from image...

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IEEE Workshop on Applications of computer vision (WACV)

作者： A.K. Dalmia M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

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, the inter-frame 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 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 the image acquisition and processing. The total acquisition and processing time in these experiments is in the range of 0.27 to 1.56 sec. The depth results have an accuracy of 85% to 92%.< >

关键词： Streaming media computer vision Machine vision Cameras Pipelines Spatial resolution Layout Delay Performance analysis Robot vision systems

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Representation and learning of invariance

Representation and learning of invariance

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IEEE International Conference on Image Processing

作者： K. Nordberg G. Granlund H. Knutsson Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden

Invariance is a very important property of features that are useful for vision. A great deal of research on this subject is going on at different labs. While invariance mechanisms can be prescribed for certain descriptors, it is our firm belief that this is not feasible for descriptors of higher level properties in general. As a consequence, these invariance mechanisms have to be learned by the vision system. In this paper, such a learning structure is proposed. A major contribution in this paper, as well as a crucial component for a successful operation, is the use of a coordinate-free information representation: the channel representation. Furthermore, each processing unit is a linear perceptron which operates on outer products of input data, implying a complex space of invariance. Two examples of how the representation can be employed are included. The examples shows an excellent separation of invariance modes, good accuracy, as well as a fast convergence.< >

关键词： computer vision Laboratories Mechanical factors Machine vision Convergence Computational complexity Stereo vision Optical sensors Image motion analysis Object recognition

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Anisotropic diffusion pyramids for image segmentation

Anisotropic diffusion pyramids for image segmentation

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IEEE International Conference on Image Processing

作者： S.T. Acton A.C. Bovik M.M. Crawford School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA Department of Electrical & Computer Engineering Laboratory for Vision Systems Center for Vision and Image Science Center for Space Research and Department of Mechanical Engineering University of Texas Austin Austin TX USA

We introduce the Anisotropic Diffusion Pyramid (ADP), a structure for multiresolution image processing. We also develop the ADP for use in region-based segmentation. The pyramid is constructed using the anisotropic diffusion equations, creating an efficient scale-space representation. Segmentation is accomplished using pyramid node linking. Since anisotropic diffusion preserves edge localization as the scale is increased, the region boundaries in the coarse-to-fine ADP segmentation are accurately delineated. An application to segmentation of remotely sensed data is provided. The results of ADP segmentation are compared to Gaussian-based pyramidal segmentation. The examples show that the ADP has a superior ability to subdivide the image into integral groupings, minimizing the error in boundary localization and in pixel intensity.< >

关键词： Anisotropic magnetoresistance Image segmentation Smoothing methods Equations Image resolution Pixel computer vision Machine vision Hemorrhaging Radiometry

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MANIPULATIONS OF OCTREES AND QUADTREES ON MULTIPROCESSORS

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International Journal of Pattern Recognition and Artificial Intelligence 1994年第2期8卷 439-455页

作者： VIPIN CHAUDHARY K. KUMARI P. ARUNACHALAM J.K. AGGARWAL Parallel and Distributed Computing Laboratory Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 USA Sun Microsystems 2820 Orchard Parkway San Jose CA 95134 USA Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas at Austin Austin Texas 78712–1084 USA

Octrees offer a powerful means for representing and manipulating 3-D objects. This paper presents an implementation of octree manipulations using a new approach on a shared memory architecture. Octrees are hierarchical data structures used to model 3-D objects. The manipulation of these data structures involves performing independent computations on each node of the octree. Octrees are much easier to deal with than other forms of representations used to model 3-D objects especially where extensive manipulations are involved. When these operations are distributed among multiple processing elements (PEs) and executed simultaneously, a significant speedup may be achieved. Manipulations such as a complement, a union, an intersection and other operations such as finding the volume and centroid which this paper describes are implemented on the Sequent Balance multiprocessor. In this approach the PEs are allocated dynamically, resulting in a uniform load balancing among them. The experimental results presented illustrate the feasibility of the approach. Although this evaluation has been originally done for shared memory machines, it will provide insight for the evaluation of other architectures.

关键词： Shared memory architecture dynamic allocation union intersection orthogonal views

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The Texas active vision testbed

The Texas active vision testbed

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IEEE International Conference on Systems, Man and Cybernetics

作者： W.N. Klarquist A.C. Bovik Laboratory for Vision Systems Department of Electrical & Computer Engineering University of Texas Austin Austin TX USA

The Texas active vision testbed (TAVT) represents the most recent stage of an ongoing design process that weighed a large number of alternatives, for both hardware and software to create a flexible and precise tool for active vision research. In this paper, we describe this platform and our ongoing research employing this tool. The platform is used in the development of depth recovery algorithms to extend conventional active vision techniques, such as variable baseline stereo and active focus control, as well as support research in the active control of a vergent stereo geometry.< >

关键词： Software testing Process design Hardware Software tools Geometry

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On integrating depth from motion and stereo

On integrating depth from motion and stereo

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IEEE International Conference on Systems, Man and Cybernetics

作者： A.K. Dalmia M. Trivedi Electrical and Computer Engineering Department Computer Vion and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper presents a method to accurately and efficiently extract depth from a sequence of images. The method integrates two techniques of depth extraction, namely, spatial and temporal gradient analysis, and stereo processing to enhance the reliability of the depth extraction. Spatial and temporal gradient analysis has been shown to provide depth in a highly efficient manner. However, due to the small image displacement used in this algorithm, depth with only limited precision can be computed. To enhance the precision, a stereo based matching is performed on the first frame and the last frame of the monocular sequence used in spatial and temporal gradient analysis. The stereo matching is limited to a small region, based on the results of the spatial and temporal gradient analysis. The performance of the approach is demonstrated through experiments with real scenes.< >

关键词： Data mining Displacement measurement Equations Cameras Robots Laboratories Image sequence analysis Performance analysis Machine vision Art

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A 85-mW, 10-bit 40-Ms/s ADC with decimated parallel architecture

A 85-mW, 10-bit 40-Ms/s ADC with decimated parallel architec...

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Custom Integrated Circuits Conference (CICC)

作者： K. Nakamura M. Hotta R. Carley D. Allstot Central Res. Lab. Hitachi Ltd. Tokyo Japan Functional Devices Department Central Research Laboratory Hitachi and Limited Tokyo Japan Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The design of a low-power, 10-bit 40-Ms/s ADC integrated in 0.8-/spl mu/m multi-threshold CMOS is presented. This fully differential design employs a decimated parallel combination of single-bit and multi-bit per stage pipelined architectures to achieve this performance. The ADC, targeted for high resolution video terminals, dissipates 85-mW from 2.7-V supply, and occupies an area of 1.9 by 2.1-mm/sup 2/.< >

关键词： Parallel architectures Pipeline processing Analog-digital conversion Power dissipation Interleaved codes computer architecture Bandwidth Circuits Laboratories Machine vision

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A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMAGE STREAMS 6

A REAL-TIME IMPLEMENTATION OF STRUCTURE ESTIMATION USING IMA...

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CONF ON SENSOR FUSION 6

作者： DALMIA, AK TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville 37996-2100 TN United States

ISBN: (纸本)0819413240

The computation of 3-D structure from motion using a monocular sequence of images in the paradigm of active vision is investigated in this paper. Robotic tasks such as navigation, manipulation, and object recognition all require 3-D description of scene. The 3-D description for these tasks varies in resolution, accuracy, robustness, range, and time. In developing such a system, it must have the capability to actively control the imaging parameters so that a 3-D description sufficient enough for that task is generated. The objective of this paper is to investigate a strategy suitable for fast and active 3-D structure estimation. First, the process of 3-D structure estimation in the paradigm of active vision is discussed. Second, implication of image streams in 3-D structure computation is analyzed. The three approaches to structure from motion, feature based, optical flow based, and spatial and temporal gradient based, are reviewed for their efficacy in fast and active estimation of 3-D structure. Finally, a pipeline based implementation of a spatial and temporal gradient based approach is presented alongwith detailed experimental analysis. © 1993 SPIE. All rights reserved.

关键词： Object recognition

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