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Paracatadioptric camera calibration using lines

Paracatadioptric camera calibration using lines

引用

International Conference on computer Vision (ICCV)

作者： Barreto Araujo Institute of Systems and Robotics-Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Paracatadioptric sensors combine a parabolic shaped mirror and a camera inducing an orthographic projection. Such a configuration provides a wide field of view while keeping a single effective viewpoint. Previous work in central catadioptric sensors proved that a line projects into a conic curve and that three line images are enough to calibrate the system. However the estimation of the conic curves where lines are mapped is hard to accomplish. In general only a small arc of the conic is visible in the image and conventional conic fitting techniques are unable to correctly estimate the curve. The present work shows that a set of conic curves corresponds to paracatadioptric line images if, and only if, certain properties are verified. These properties are used to constraint the search space and correctly estimate the curves. The accurate estimation of a minimum of three line images allows the complete calibration of the paracatadioptric camera. If the camera is skewless and the aspect ratio is known then the conic fitting problem is solved naturally by an eigensystem. For the general situation the conic curves are estimated using non-linear optimization.

关键词： Cameras Calibration Mirrors Sensor systems Robot vision systems Image sensors Robot sensing systems Curve fitting computer vision Focusing

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Direct Least Square Fitting of Paracatadioptric Line Images

Direct Least Square Fitting of Paracatadioptric Line Images

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Joao P. Barreto Helder Araujo Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Paracatadioptric sensors combine a parabolic shaped mirror and a camera inducing an orthographic projection. Such a configuration provides a wide field of view while keeping a single effective viewpoint. In general the paracatadioptric image of a line is a conic curve. The estimation of line images is an important subject for applications such as reconstruction and visual control of motion. However the estimation of the conic curves where lines are mapped is hard to accomplish. In general only a small arc of the conic is visible in the image and conventional conic fitting techniques are unable to correctly estimate the curve. This paper shows that line images can be accurately estimated by constraining the search space. A conic curve is the paracatadioptric image of a line if, and only if, the image of the circular points lie on the curve and two certain points are conjugate with respect to the conic. Considering the space of all conic curves, the line images lie in a linear subspace which depends on the system calibration. The paracatadioptric projection of a line can estimated by fitting a conic in the subspace to the data points. The proposed approach is computationally efficient since the fitting problem can be solved by an eigensystem

关键词： Fitting Equations Cameras Noise Least squares approximation Mirrors Sensors

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

引用

IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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Learning variable-resolution maps for navigation in dynamic worlds

Learning variable-resolution maps for navigation in dynamic ...

引用

Annual Conference of Industrial Electronics Society

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

Map building is an important component to enable autonomous mobile robots to navigate in complex unfamiliar environments. This paper introduces a new method for learning multiresolution maps for navigation in unknown and dynamic worlds. It extends our navigation architecture that integrates a multiresolution grid world model and fuzzy ART based world model. The fuzzy ART world model is composed of a set of rectangular geometric primitives, or features. In a companion paper we introduce a new method for updating the fuzzy ART model in dynamic worlds. In this paper we describe our new navigation architecture that, by integrating the new proposed map building method for dynamic worlds, is able to dynamically not only increase but also decrease local resolution according to variations in the local clutter and complexity of the world. With the new overall navigation architecture the mobile robot is able to cope with, and navigate, in changing worlds. The paper presents experimental results obtained with a Nomad 200 mobile robot that demonstrates the effectiveness of the proposed methods.

关键词： Navigation Mobile robots Spatial resolution Solid modeling Subspace constraints Buildings Extraterrestrial measurements Fuzzy sets Motion-planning Orbital robotics

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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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Data fusion for compliant motion tasks based on human skills

Data fusion for compliant motion tasks based on human skills

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe U. Nunes G. Hirzinger Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal Institute of Robotics and Mechatronics German Aerospace Center Germany

The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (peg-in-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to robotic manipulators.

关键词： Humans Sensor phenomena and characterization Stochastic resonance Robot sensing systems State estimation Information filtering Information filters Aerospace engineering Mechatronics Stereo vision

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Mobile robot localization using a fuzzy ART world model

Mobile robot localization using a fuzzy ART world model

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Annual Conference of Industrial Electronics Society

作者： R. Araujo G. Gouveia N. Santos Institute for Systems and Robotics and Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Mobile robot localization is the problem of determining the robot's pose from sensor data. The ability to know their own location in the environment is an important capability for mobile robots. It is necessary for (and necessitates) map building, and for motion planning. The navigation architecture of, integrates a multiresolution grid world model, and a fuzzy ART (FART) based world model which is composed of a set of rectangular geometric primitives, or features. This paper presents a mobile robot localization method that is based on the integration of the fuzzy ART world model and a Kalman filter. This localization approach is original in that it employs a new type of geometric feature map in the context of mobile robot localization: the fuzzy ART geometric feature. This extends the previous navigation architecture, and demonstrates the application of the FART for mobile robot localization. The mathematical model of the localization algorithm is developed and applied for the case of a map composed of FART rectangular features. The paper presents experimental results that demonstrate the effectiveness of the proposed localization approach.

关键词： Mobile robots Subspace constraints Robot sensing systems Navigation Motion planning Solid modeling Mathematical model Sensor systems Buildings Fuzzy sets

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Pose estimation for central catadioptric systems: an analytical approach

Pose estimation for central catadioptric systems: an analyti...

引用

International Conference on Pattern Recognition

作者： A. Paulino H. Araujo Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)076951695X

The number of applications for central catadioptric systems, often called central panoramic systems, is increasing. Among these are surveillance systems, commercial systems for Web navigation and robot localization and navigation. This work is involved with the latter, and presents an analytical method for pose estimation using any central catadioptric system. Any known four points in the world, forming a planar rectangle. may be used for pose computation. The computed pose includes the rotation and the translation from the camera coordinate system to the world coordinate system.

关键词： Mirrors Cameras Robot kinematics Robot vision systems Layout computer vision Image reconstruction Equations Application software Surveillance

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Cooperative Q-learning with heterogeneity in actions

Cooperative Q-learning with heterogeneity in actions

引用

IEEE International Conference on systems, Man and Cybernetics

作者： S.M. Reza MirFattah M.N. Ahmadabadi Institute for Studies on Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Cooperation in learning improves the speed of convergence and the quality of learning. Special care is needed when heterogeneous agents cooperate in learning. It is discussed that, cooperation in learning may cause the learning process to diverge if heterogeneity is not handled properly. In this paper, it is assumed that two heterogeneous Q-learning agents cooperate to learn. The heterogeneity is assumed in their action order (and not in their action set). A Q-learning-based method is introduced for the agents to learn the mapping among their actions. It is shown that, the agents are able to learn this mapping while cooperating in learning. Some simulation results are reported to show the effectiveness of the proposed method.

关键词： Intelligent agent Intelligent robots Humans Telecommunication control Artificial intelligence Laboratories Intelligent systems Physics Mathematics Convergence

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A new approach to credit assignment in a team of cooperative Q-learning agents

A new approach to credit assignment in a team of cooperative...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： A. Harati M.N. Ahmadabadi Institute for Studies on Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Q-learning is widely used in many multi agent systems. In most cases, a separate critic is considered for qualifying each individual agent behavior or it is assumed that the critic is completely aware of effects of all agents' actions on the team qualification. But, in many cases, the role of each team member in the group performance is not known. In order to distribute a common credit among the agents, a suitable criterion must be provided to estimate the role of each agent in the team performance and to judge if an agent has done a wrong action. In this paper two such criteria, named certainty and expertness, for a team of agents with parallel tasks are introduced. In addition, two methods for reinforcing the agents based on the proposed measures are provided. Some simulation results are also reported to show the effectiveness of the proposed measures and methods.

关键词： Intelligent agent Learning systems Multiagent systems Intelligent sensors Artificial intelligence Laboratories Intelligent systems Intelligent robots Physics Mathematics

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