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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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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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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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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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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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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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A surveillance system integrating visual telepresence

A surveillance system integrating visual telepresence

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International Conference on Pattern Recognition

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

ISBN: (纸本)0769507506

We describe an indoor surveillance system which enables the control of a binocular active vision system by a remote operator wearing a head mounted display. Visual feedback to the head mounted display is obtained using the images captured by the active vision system. To maximize the 3D perception of the operator the system is able to adjust the vergence angle of the active vision system in order to maintain fixation on the objects in the center of the image. A wide-angle lens static camera located on the surveillance area is also used to enable the detection and tracking of intruders. In case of an intrusion a map with the location of the detected targets is displayed on top of the images shown on the head mounted display. This information allows the remote operator to redirect his attention to where the target is.

关键词： Surveillance Head Machine vision Displays Humans Delay Cameras Lenses Sensor phenomena and characterization Mechanical sensors

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Application of a robust indirect adaptive-control method in task-space hybrid manipulator control

Application of a robust indirect adaptive-control method in ...

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International Conference on Industrial Electronics, Control and Instrumentation

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

Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed.< >

关键词： Robust control Adaptive control Manipulators Robot kinematics Parameter estimation Control systems Programmable control Force control Algorithm design and analysis Robustness

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