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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： R. Araujo D. Lourenco G. Ferreira Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Coimbra Portugal

Mobile robots require the ability to build their own maps to operate in unknown environments. This article introduces a new online method for learning world maps in non-static worlds. The new approach expands the previously proposed method by Araujo et al. (1998, 1999), based on the fuzzy ART neural architecture (FARTNA) towards the application in non-static worlds. For this purpose we introduce the prune-able fuzzy ART neural architecture (PAFARTNA) which extends the FARTNA self-organizing neural network to include the ability to selectively remove recognition categories. A method is proposed for the perception of object removals, and integrated with the PAFARTNA. To study and experimentally validate the proposed methods we integrated sensor information from a laser range finder sensor and a ring of infrared range sensors. Results of experiments with a Nomad 200 mobile robot are presented, demonstrating the effectiveness of the proposed methods.

关键词： Infrared sensors Subspace constraints Solid modeling Mobile robots Robot sensing systems Sonar navigation Computational efficiency Buildings Sensor phenomena and characterization Gas insulated transmission lines

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A statistical analysis of gamakas in Carnatic music 18

A statistical analysis of gamakas in Carnatic music

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18th International Society for Music Information Retrieval Conference, ISMIR 2017

作者： Viraraghavan, Venkata Subramanian Aravind, R. Murthy, Hema A. TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras India Department of Computer Science and Engineering Indian Institute of Technology Madras India

ISBN: (纸本)9789811151798

Carnatic Music, a form of classical music prevalent in South India, has a central concept called rāgas, defined as melodic scales and/or a set of characteristic melodic phrases. These definitions also account for the continuous pitch movement in gamakas and micro-tonal adjustments to pitch values. In this paper, we present several statistics of gamakas to arrive at a model of Carnatic music. We draw upon the two-component model of Carnatic Music, which splits it into a slowly varying 'stage' and a detail, called 'dance'. Based on the statistics, we propose slightly altered definitions of two similar components called constant-pitch notes and transients. An automated implementation of these definitions is used in collecting statistics from 84 concert renditions. We then suggest that the constant-pitch notes and transients can be considered as context and detail respectively of the rāga, but add that both are necessary for defining the rāga. This is verified by performing listening tests on only the constant-pitch notes and transients independently. © 2019 Venkata Subramanian Viraraghavan, R Aravind, Hema A Murthy.

关键词： Statistics

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Real-time gesture recognition system based on contour signatures

Real-time gesture recognition system based on contour signat...

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International Conference on Pattern Recognition

作者： P. Peixoto J. Goncalves H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)076951695X

In this paper we describe a real-time gesture recognition algorithm based on contour signature images, generated by collecting a set of contour signatures over time. Each contour signature is generated in each frame by computing the polar coordinates of each point of the contour in relation to the center of mass of that contour The gesture recognition is reduced to the problem of finding the correspondent contour signature image from a set of previously learned image contour signatures. This is achieved using a Karhunen-Loeve (KL) transform that reduces the set of trained images to a low-dimensional eigenspace, making recognition easier This method is particularly suitable for the recognition of gestures that can be perfectly described by silhouettes. Since no shape or 3D model is required the proposed method can easily be adapted to recognize several other types of gestures not necessarily performed by humans. The proposed algorithm is able to extract target gesture motions and classify them at the same time. Preliminary experimental results demonstrate robustness and real-time performance of the proposed algorithm.

关键词： Real time systems Image recognition Humans Surveillance Image generation Karhunen-Loeve transforms Space technology Robot kinematics Shape Cameras

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Assis - cicerone robot with visual obstacle avoidance using a stack of odometric data

IAENG International Journal of Computer Science

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IAENG International Journal of computer Science 2018年第1期45卷 219-227页

作者： Mendesy, Mateus Coimbray, A. Paulo Crisóstomo, Manuel M. ESTGOH Polytechnic Institute of Coimbra Portugal ISR - Institute of Systems and Robotics Dept. of Electrical and Computer Engineering University of Coimbra Portugal

Modern research has shown that intelligent behaviour is, to a great extent, strongly supported on the use of a sophisticated memory. Additionally, vision is the main source of information for the average human. Constant increase of sensing and processing power and constant decrease of the cost of memory have made vision-based approaches in robotics more attractive. ASSIS is a prototype of an assistant robot which uses vision and memory-based navigation, including intelligent obstacle avoidance. ASSIS uses a parallel implementation of a Sparse Distributed Memory to store images and use them later for localisation and navigation. Obstacle avoidance is achieved using a stack-based method and odometric data. Users can command the robot through a web-based interface. ASSIS implements behaviours such as courier or cicerone.

关键词： Navigation

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A surveillance system combining peripheral and foveated motion tracking

A surveillance system combining peripheral and foveated moti...

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International Conference on Pattern Recognition

作者： P. Peixoto J. Batista H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

We describe a surveillance system made up of a fixed camera and a binocular active vision system. A fixed camera is used to provide the system with peripheral motion detection capabilities. The binocular active system is used to track in 3D and reconstruct the trajectories of specific targets. Both are fully integrated and the redundancy is exploited to achieve a higher degree of robustness in detecting and tracking intruders.

关键词： Surveillance Cameras Target tracking Machine vision Humans computer vision electrical capacitance tomography Identity-based encryption Robot vision systems Image reconstruction

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Pose view stability analysis for camera look angles computation

Pose view stability analysis for camera look angles computat...

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International Conference on Pattern Recognition

作者： J. Batista H. Araujo A.T. Almeida ISR-Institute of Systems and Robotics-Department of Electrical Engineering University of Coimbra Coimbra Portugal

The main purpose of this paper is not to present a new camera calibration algorithm or a new pose estimation method, but just to analyse the stability of the camera pose estimation using the Haralick observation which is based on the fact that there is sufficient information on the 2D perspective projection of a rectangle of unknown size in 3D space to determine the three camera look angles. A brief description of the camera look angles computation is presented and a model for the expected stability of the camera look angles computation front noisy image data is described. A stability analysis as a function of the pose of the camera is also described, and the influence of the camera pose is confirmed with simulated data. As a result, camera pose view strategies for accurate camera orientation computation can be extracted from this pose view stability analysis.

关键词： Stability analysis Cameras Calibration Robot vision systems Lenses Robot kinematics computer vision Algorithm design and analysis Computational modeling Analytical models

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Integrating a geometric-primitive map into a multiresolution motion planning approach

Integrating a geometric-primitive map into a multiresolution...

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International Workshop on Advanced Motion Control (AMC)

作者： R. Araujo A.T. de Almeida Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Coimbra Portugal

Presents a method for mobile robot navigation that integrates (1) the fuzzy ART neural architecture for online map-building, into (2) the parti-game learning approach. Using the improved world model, a predictive online trajectory filtering method, is introduced in the learning approach for increasing the effectiveness of robot exploration and planning. This results in an overall powerful method for simultaneous construction of a world model, and learning to navigate from an initial position to a known goal region in an unknown world. It is assumed that the robot knows its own current world location, is able to perform sensor-based obstacle detection (not avoidance), and straight-line motions. Simulation and real-robot navigation results with a Nomad 200 mobile robot are presented. Quantitative results demonstrate (1) the improvements of the navigation approach, and (2) that the constructed world model (original or improved) is general purpose in the sense that its usefulness is not restricted to be used on learning a particular path, but is valuable for learning paths with different (start, goal) pairs.

关键词： Navigation Robot sensing systems Motion planning Trajectory Mobile robots Robot programming Subspace constraints Predictive models Filtering Robot control

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Real-time visual behaviors with a binocular active vision system

Real-time visual behaviors with a binocular active vision sy...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Batista P. Peixoto H. Araujo Department of Electrical Engineering ISR-Institute of Systems and Robotics University of Coimbra Coimbra Portugal

We describe the real-time implementation of several visual behaviors in an active vision system. Issues related to the real-time implementation are discussed, concerning the modeling of the measurements made in the image. We also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. We show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.

关键词： Real time systems Machine vision Robot vision systems Control systems Head Layout Visual system Optical control Data mining Biological control systems

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Real-time visual behaviors with a binocular active vision system

Real-time visual behaviors with a binocular active vision sy...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： J. Batista P. Peixoto H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. In this paper we describe the real-time implementation of several visual behaviors in an active vision system. Issues related to the real-time implementation are discussed, namely in what concerns the modelling of the measurements made in the image. Even though in most applications a fully calibrated system is not required, we also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. At the lower levels we consider vision as a sensor and integrate it in control systems (both feedforward and servo loops) and several visual processes are implemented in parallel, computing relevant measures for the control process. At higher levels the architecture is modeled as a state transition system. Finally we show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.

关键词： Real time systems Machine vision computer architecture Robot vision systems Head Control systems Cameras Calibration Robot sensing systems Sensor systems

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Path planning-by-learning with a Nomad 200 mobile robot

Path planning-by-learning with a Nomad 200 mobile robot

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Araujo A.T. de Almeida Institute of Systems and Robotics ISR Electrical Engineering Department University of Coimbra Coimbra Portugal

In this article, the authors face the problem of navigating a mobile robot on an indoor environment, where the location and shape of obstacles is assumed to be initially unknown to the robot. They describe an approach for simultaneous learning of a world model, and learning to navigate from a start position to a goal region on the world. These two learning abilities may be seen as cooperating and enhancing each other in order to improve the overall system performance. It is assumed that the robot knows its own current world position. It is only additionally assumed that the mobile robot is able to perform sensor-based obstacle detection (not avoidance), and that it is able to perform straight-line motions. Results of simulation experiments are presented that demonstrate the effectiveness of the approach to navigate a Nomad 200 mobile robot.

关键词： Mobile robots Robot sensing systems Navigation Robot programming Robot control Control systems Educational robots Indoor environments Shape System performance

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