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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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A cursive on-line Hangul recognition system based on the combination of line segments

A cursive on-line Hangul recognition system based on the com...

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International Conference on Document Analysis and Recognition

作者： O.-S. Kwon M. Kim M. Park Y.-B. Kwon Computer Vision Laboratory Department of Computer Engineering Chung-Ang University Seoul South Korea Center for Artificial Intelligence Research (CAIR)

A cursive online Hangul (Korean script) recognition system called Jokjipke based on structural character information is presented. A segmentation method that observes the variations of the graphemes type is proposed. The cursive writing between graphemes is divided into line segments using the segmentation technique. Each line segment becomes a primitive of the recognition system. From the relational structure of line segments, the feature vectors are calculated by comparing the current line segment to the other line segments in the same grapheme. The recognition is then accomplished with the best-first search process. This research calculates the line segment that has the least amount of difference between the candidate grapheme string and the reference grapheme models. After learning each grapheme by 10 different person, the system reaches a recognition rate of 81.65% of the cursive Hangul character over the 10,396 characters. That is, more than 400 of the most frequently used characters are written by 25 different persons in order to show the writing style independence.< >

关键词： Character recognition Feature extraction computer vision Writing Hidden Markov models Pattern recognition Laboratories Artificial intelligence computer interfaces Books

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TRANSFORMATION RELATIONSHIPS FOR 2 COMMONLY UTILIZED EULER ANGLE REPRESENTATIONS

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1992年第3期22卷 555-559页

作者： CHEN, CX TRIVEDI, MM Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in research laboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.

关键词： Robot kinematics Robot sensing systems Manipulators Laboratories Quaternions US department of Energy Software systems Hardware Software standards Control systems

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A VLSI PROCESSOR FOR PARALLEL CONTOUR TRACING

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1992年第2期40卷 429-438页

作者： AGI, I HURST, PJ JAIN, AK Solid-state Circuits Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA Computer Vision Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

A custom IC processor that traces contours in black-and-white images is described. The CMOS IC contains a finite state machine, ALU, input delay line, and RAM. Each processor extracts the edges from a rectangular portion of the input image and traces the edges, outputting a description of the contours. A complete tracing system employs an array of these processors. The array architecture allows expansion to handle arbitrarily large images. The processors trace independently, thereby providing fully parallel high-speed operation. Partial contours are generated as a result of the partitioning of the image among the processors. A postprocessor links any partial contours created by the subdivision of the input image. The contour-tracing algorithm and simulation results for compression ratio and number of operations are presented. The architecture and measured performance of the IC are described.

关键词： Very large scale integration Signal processing algorithms Read-write memory Automata Pixel CMOS integrated circuits Delay lines Partitioning algorithms Biomedical measurements

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Architecture and Automatic Task Planning for Integrated Sensor-based Robots

Architecture and Automatic Task Planning for Integrated Sens...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Chen, C. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent robots should possess three important capabilities: (1) planning, i.e., given a goal, the ability to generate a set of task plans which will lead to achieving the goal, (2) coordination and execution of the perceptual actions, i.e., the abilities to coordinate sensors, acquire sensory data, and process, interpret and transform the sensory information, and (3) coordination and execution of the motor actions, i.e., the ability to navigate in their environments and the ability to coordinate effectors and tools and manipulate objects to accomplish assigned tasks. In this paper we introduce a System Architecture for Sensor-based Intelligent Robots, (SASIR), constructed using a frame data structure, which provides a suitable and flexible scheme for representation and manipulation of the world model, the sensor derived information, as well as for describing the actions reqnired for the execution of a specific task. © 1992 IEEE.

关键词： Intelligent robots

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Multi-primitive hierarchical (MPH) stereo system

Multi-primitive hierarchical (MPH) stereo system

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1992 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 1992

作者： Marapane, S.B. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0818628553

A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system. © 1992 IEEE.

关键词： Hierarchical systems

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Active exploration using contact and noncontact sensors: An integrated system

Active exploration using contact and noncontact sensors: An ...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gadagkar, H.P. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with describing and discussing our approach towards the development of a multi-sen,sory closed-loop active robotic exploration system for workspace characterization. The exploration system involves acquisition, processing, and integration of sensory inputs acquired from uision, poin,t laser range, tactile, and force/torque sensors. The exploration process results in building three-dimensional Half-space models of various polyhedral (convex and concave) objects encountered in the workspace. Subsequent to the process of building object models using active exploration mechanisms, the object models allow extraction of essential geometric information required for performing tasks such as object identification, grasping, and man ipiila t io n. Th e experim en tal resuh showtli at vurious geometrical descriptors that are required for model building, can be extracted quite reliably using the sensor specific exploratory mechanisms. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Geometry

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A VIDEO PATTERN GENERATOR FOR vision TEST 35

A VIDEO PATTERN GENERATOR FOR VISION TEST

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35TH MIDWEST SYMP ON CIRCUITS AND SYSTEMS

作者： OBAIDAT, MS ABUSAYMEH, DS CIBIS, G PIERCE, D Computer Engineering Research Laboratory Department of Electrical and Computer Engineering University of Missouri - Columbia Kansas City MO United States Transoft Ltd. Country Club Plaza Kansas City MO United States

ISBN: (纸本)0780305108

This paper presents a hardware and software system for the generation of video patterns that can be used for various vision tests, particularly depth perception. Among the capabilities of the system is generation of static and dynamic random dot stereograms that can be used to test depth perception. The system generates the patterns in real time which provides the ability of moving the objects in the stereogram. This feature is very useful in testing depth perception among infants and non-communicative people by correlating the movement of the eye with the movement of the object. Furthermore, in order to prevent any cues, the system can generate the random dots dynamically or statically allowing the color of pixels to either change from a frame to another or remain static with all frames. The system is based on the TMS34010 graphics processor, operating at 40 MHz. The processor is interfaced to 512Kb of Video Random Access Memory (VRAM), 256Kb of Dynamic Random Access Memory (DRAM), and 16Kb of Erasable Programable Read Only Memory (EPROM). The system also has an RS-232C serial communication port for communicating with a host computer such as an IBM-PC, and a RGB video output for connection to an RGB color video monitor which displays the various video patterns. The software developed in this work produces the various patterns and test experiments. A monitor program was also written to aid in developing any new software needed to produce new patterns or test experiments. © 1992 IEEE.

关键词： Software testing

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A mean field solution to anisotropic edge detection of remotely sensed images 12

A mean field solution to anisotropic edge detection of remot...

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12th Annual International Geoscience and Remote Sensing Symposium, IGARSS 1992

作者： Acton, Scott T. Crawford, Melba M. Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States Center for Space Research Department of Mechanical Engineering University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)0780301382

A new edge detection technique based on anisotropic diffusion is implemented using mean field theory. This optimization approach to edge detection provides localized, thinned, and linked edges that are useful for image segmentation and edge-based image registrationb algorithms. The method is well-suited for remote sensing applications that depend on accurate boundary detection, multiple region delineation, and high speed parallel implementation. © IEEE 1992.

关键词： Edge detection

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Architecture And Automatic Task Planning For Integrated Sensor-based Robots

Architecture And Automatic Task Planning For Integrated Sens...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

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