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IEEE International Conference on Image Processing

作者： S. Negahdaripour R. Prados R. Garcia Department Electrical and Computer Engineering University of Miami Coral Gables FL USA Computer Vision and Robotics Group Department of Electronics Informatics and Automation University of Girona Spain

Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to assess the accuracy of the transformation parameters have been proposed (A. Criminisi et al., 1999). We show that these expressions provide less accurate bounds than those based on the earlier results of Weng et al. (1989). The discrepancy becomes more critical in applications involving the integration of frame-to-frame homographies and their uncertainties, as in the reconstruction of terrain mosaics and the camera trajectory from flyover imagery. We demonstrate these issues through selected examples.

关键词： Cameras robotics and automation Image reconstruction Layout Equations Application software computer vision Robot vision systems Informatics Heart

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A Rotational and Translational Image Stabilization System for Remotely Operated Robots

A Rotational and Translational Image Stabilization System fo...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos N. Kyriakoulis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements. Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 times 240 pixel image sequences at approximately 10 frames/sec, with a maximum acceleration of A deg/sec 2 .

关键词： Image sequences Cameras Optical filters Robot vision systems Performance evaluation Navigation Image processing Frequency Fluctuations Video sequences

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A Log-Polar Interpolation Applied to Image Scaling

A Log-Polar Interpolation Applied to Image Scaling

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center. The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane. Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation.

关键词： Interpolation Pixel Digital images Hardware Retina Photoreceptors Color Conferences Laboratories robotics and automation

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Dense disparity estimation using a hierarchical matching technique from uncalibrated stereo vision

Dense disparity estimation using a hierarchical matching tec...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： L. Nalpantidis A. Amanatiadis G. Sirakoulis N. Kyriakoulis A. Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of the matching position. Therefore, the proposed algorithm can process non-rectified stereo image pairs, maintaining the computational load within reasonable levels.

关键词： Stereo vision Motion estimation Cameras Robot vision systems Laboratories Pixel Layout Machine vision robotics and automation Production systems

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Fault detection for nonlinear non-affine systems via sliding-mode output-feedback and HOSM differentiator

Fault detection for nonlinear non-affine systems via sliding...

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International Workshop on Variable Structure Systems, VSS

作者： H. Ríos E. Punta L. Fridman Department of Control Engineering and Robotics National Autonomous University of Mexico Mexico D.F National Research Council of Italy Institute of Electronics Computer and Telecommunication Engineering Torino Italy

This paper deals with the fault detection problem for nonlinear uncertain non-affine systems. The variable-structure output-feedback stabilization based on observer is required. Depending on the type of uncertainties, conditions are given under which convergence to the unique solution of both the system and the observer, and fault detection are achieved. Simulation results illustrate the feasibility of the proposed approach.

关键词： Vectors Uncertainty Observers Fault detection Jacobian matrices Manifolds Control systems

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories computer vision Real time systems Image sensors Machine vision

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Intelligent upper-limb exoskeleton integrated with soft bioelectronics and deep learning for intention-driven augmentation

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npj Flexible electronics 2024年第1期8卷 856-868页

作者： Jinwoo Lee Kangkyu Kwon Ira Soltis Jared Matthews Yoon Jae Lee Hojoong Kim Lissette Romero Nathan Zavanelli Youngjin Kwon Shinjae Kwon Jimin Lee Yewon Na Sung Hoon Lee Ki Jun Yu Minoru Shinohara Frank L.Hammond Woon-Hong Yeo Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea IEN Center for Wearable Intelligent Systems and Healthcare Institute for Electronics and NanotechnologyGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Industrial Design Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering Yonsei UniversitySeoul 03722Republic of Korea School of Biological Sciences Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Materials Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper ***,we introduce an intelligent upper-limb exoskeleton system that utilizes deep learning to predict human intention for strength *** embedded soft wearable sensors provide sensory feedback by collecting real-time muscle activities,which are simultaneously computed to determine the user’s intended *** deep learning predicts four upper-limb joint motions with an average accuracy of 96.2%at a 500–550 ms response rate,suggesting that the exoskeleton operates just by human *** addition,an array of soft pneumatics assists the intended movements by providing 897 newtons of force while generating a displacement of 87mm at *** intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted exoskeleton.

关键词： skeleton learning utilize

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Toward Closed-Loop Additive Manufacturing: Paradigm Shift in Fabrication, Inspection, and Repair

Toward Closed-Loop Additive Manufacturing: Paradigm Shift in...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Manpreet Singh Fujun Ruan Albert Xu Yuchen Wu Archit Rungta Luyuan Wang Kevin Song Howie Choset Lu Li Department of Mechanical Engineering Carnegie Mellon University Pittsburgh USA CMU The Robotics Institute School of Computer Science USA Department of Electrical Engineering and Computer Science University of Michigan USA Department of Electrical and Electronics Engineering Birla Institute of Technology and Science Pilani India Department of Electrical and Computer Engineering CMU USA

Increased usage of additive manufacturing (AM) in various industries has solidified its role as an advanced manufacturing technique. However, there is an inherent lack of reliability in AM processes, particularly common in extrusion or deposition-based methods due to the stochastic nature of ma-terial deposition. This necessitates an intelligent manufacturing solution to address the drawbacks of AM. Thus, we propose a novel layer-wise approach toward closed-loop AM, which is capable of in-situ monitoring and repairing geometric defects. In this paper, we present a system that uses a robotic AM experimental platform that mimics a conventional open-loop fabrication setup, which we augment into a closed-loop system using two add-ons: in-situ inspection subsystem and online process correction subsystem. The in-situ inspection subsystem collects 3D point cloud scans and compares them against a reference CAD model, categorizing geometric deviations as positive or negative defects. Then the subsequent online process correction subsystem uses a re-plan and/or repair strategy to address the positive and/or negative defects, respectively. To evaluate this idea, we conducted three experiments on parts with manually induced defects to investigate the system's ability to repair those parts, thereby reducing defects, improving part accuracy, and enhancing mechanical properties. Comparing the defective and repaired parts, we observe a reduction in defect percent by volume from 10.7% to 1.3%, an improvement in geometric tolerance from 3.86% error to 0.08% error, and an increase in the part's breaking load from 4.77 kN to 6.31 kN. These experiments prove that our layer-wise closed-loop additive manufacturing approach improves the quality, tolerance, and reliability of plastic 3D printed parts, with the potential to extend to other extrusion/deposition-based AM processes, or even subtractive manufacturing and hybrid manufacturing methods.

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Use of Yolo Algorithm for Traffic Sign Detection in Autonomous Vehicles and Improvement Using Data Replication Methods

Use of Yolo Algorithm for Traffic Sign Detection in Autonomo...

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International Conference on electronics, computers and Artificial Intelligence (ECAI)

作者： Serkan Budak Firat Bozkaya Mustafa Yasin Akmaz Şükrücan Tiğlioğlu Cansel Boynukara Okan Kazanci Zülal Hilal Yildiz Budak Akif Durdu Cemil Sungur Electrical Electronics Engineering Konya Technical University Konya Türkiye Computer Engineering Konya Technical University Konya Türkiye Electrical Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Türkiye

Autonomous vehicles use many technologies and methods to detect and act on surrounding objects. The most common among these technologies is an algorithm called YOLO (You Only Look Once). This algorithm quickly detects objects in an image and classifies these objects accurately. This study examines the use of the YOLO algorithm for signage detection in autonomous vehicles and how this algorithm can be improved. First of all, the basic principles and working mechanisms of the YOLO algorithm are explained. Then, it is explained in detail how this algorithm can be used for plate detection in autonomous vehicles. Various models were trained using the YOLO algorithm and the data set created with real data, and the trained models were tested on real-time systems. Finally, suggestions for the improvement of the YOLO algorithm are presented and how this algorithm can be improved further in the future is discussed.

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A Multi-Scale Control Framework for Electric and Automated Buses in Intercity Lines

A Multi-Scale Control Framework for Electric and Automated B...

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IEEE Conference on Decision and Control

作者： S. Graffione S. Bracco C. Pasquale S. Sacone S. Siri A. Ferrara Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Department of Electrical Electronics and Telecommunication Engineering and Naval Architecture University of Genova Italy Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper proposes a multi-scale control scheme aimed at controlling speed, dwell time, and charging time of electric and automated buses performing the transport service on lines where there are no reserved lanes. The proposed control scheme has two layers characterized by different control objectives, level of detail and time scales. The high-level controller periodically solves a multi-objective optimal control problem formalized to ensure an adequate transport service, while the low-level controller, being based on a more accurate description of the bus dynamics and energy consumption, seeks to follow the high-level control actions while taking into account the effective traffic conditions encountered on the line and the effective dynamic behaviour of the bus. The paper concludes with the application to a case study in order to demonstrate the effectiveness of the proposed control scheme.

关键词： Energy consumption Accuracy Optimal control Minimization Real-time systems Delays Batteries State of charge Brakes MATLAB

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