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Fusing of image and inertial sensing for camera calibration

Fusing of image and inertial sensing for camera calibration

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

作者： J. Lobo J. Dias Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

Explores the integration of inertial sensor data with vision. A method is proposed for the estimation of camera focal distance based on vanishing points and inertial sensors. Visual and inertial sensing are two sensory modalities that can be explored to give robust solutions on image segmentation and recovery of 3D structure from images, increasing the capabilities of autonomous vehicles and enlarging the application potential of vision systems. We show that using just one vanishing point, obtained from two parallel lines belonging to some levelled plane, and using the cameras attitude taken from the inertial sensors, the unknown scaling factor f in the camera's perspective projection can be estimated. The quality of the estimation of f depends on the quality of the vanishing point used and the noise level in the accelerometer data. Nevertheless it provides a reasonable estimate for a completely uncalibrated camera. The advantage over using two vanishing points is that the best vanishing point can be chosen, and that in indoors environment the vanishing point point can sometimes be obtained from the scene without placing any specific calibration target.

关键词： Cameras Calibration Robustness Image segmentation Remotely operated vehicles Mobile robots Machine vision Noise level Accelerometers Indoor environments

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Issues on the geometry of central catadioptric image formation

Issues on the geometry of central catadioptric image formati...

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

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

ISBN: (纸本)0769512720

An imaging system with a single effective viewpoint is called a central projection system. The conventional perspective camera is an example of a central projection system. systems using mirrors to enhance the field of view while keeping a unique center of projection are also examples of central projection systems. Perspective image formation can be described by a linear model with well known properties. In general central catadioptric imaging, the mapping between points in the world and in the image is highly nonlinear. The paper establishes a general model for central catadioptric image formation made up of three functions: a linear function mapping the world into an oriented projective plane, a nonlinear transformation between two oriented projective planes, and a collineation in the plane. The model is used to study issues in the projection of lines. The equations and geometric properties of general catadioptric imaging of lines are derived. The application of the results in auto-calibration of central catadioptric systems and reconstruction are discussed. A method to calibrate the system using three line images is presented.

关键词： Cameras Mirrors Nonlinear equations Application software Data mining Computational geometry Robot vision systems Computer vision Surveillance Virtual reality

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Integrating laser and infrared sensors for learning dynamic self-organizing world maps

Integrating laser and infrared sensors for learning dynamic ...

引用

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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Multi-echo technique for feature detection and identification using simple sonar configurations

Multi-echo technique for feature detection and identificatio...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： F. Moita U. Nunes Electrical Engineering Department ISEC-Coimbra Polytechnic Institute Coimbra Portugal Institute for Systems and Robotics DEE Coimbra University Coimbra Portugal

ISBN: (纸本)0780367367

This work presents the study and development of sonar sensor configurations and processing methods with capability to detect and identify planes, edges and corners. The systems presented can be easily applied to settled robots or new platforms to improve the quality and quantity of ultrasonic data. No special configurations as arrays or cells of sensors are used in this work, only standard configurations that can be found and applied in a great number of mobile robots. New multi-echo functionalities are introduced and combined with EERUF, providing a new ME-EERUF (Multi-Echo Error Eliminating Rapid Ultrasonic Firing) method that simultaneously increases the sonar acquisition rate and provides inter-sensor measurements, necessary to implement feature detection and identification algorithms. Sonar feature-based and grid-based maps are built and integrated online using Bayesian probabilistic approaches. Experimental results using data collected in a specular indoor environment are presented in the paper.

关键词： Sonar detection Computer vision Ultrasonic imaging Robot sensing systems Sonar measurements Acoustic sensors Sensor arrays Mobile robots Ultrasonic transducers Sensor systems

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Overview of robocup-2000

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4th Robot World Cup Soccer Games and Conferences, RoboCup 2000

作者： Stone, Peter Asada, Minoru Balch, Tucker Fujita, Masahiro Kraetzschmar, Gerhard Lund, Henrik Scerri, Paul Tadokoro, Satoshi Wyeth, Gordon ATandT Labs - Research 180 Park Ave Florham ParkNJ United States Adaptive Machine Systems Osaka University Osaka Japan The Robotics Institute Carnegie Mellon University PittsburghPA United States Sony Corp Tokyo Japan Neural Information Processing University of Ulm Ulm Germany Institute for Production Technology University of Southern Denmark Denmark Computer Science Linköping University Linköping Sweden Computer and Systems Engineering Kobe University Kobe Japan Computer Science and Electrical Engineering University of Queensland QLD Australia

ISBN: (纸本)3540421858

The Fourth Robotic Soccer World Championships was held from August 27th to September 3rd, 2000, at the Melbourne Exhibition Center in Melbourne, Australia. In total, 83 teams, consisting of about 500 people, participated in RoboCup-2000 and about 5,000 spectators watched the events. RoboCup-2000 showed dramatic improvement over past years in each of the existing robotic soccer leagues (legged, smallsize, mid-size, and simulation), while introducing RoboCup Jr. competitions and RoboCup Rescue and Humanoid demonstration events. The RoboCup Workshop, held in conjunction with the championships, provided a forum for exchange of ideas and experiences among the diffierent leagues. This article summarizes the advances seen at RoboCup-2000, including reports from the championship teams and overviews of all the RoboCup events. © Springer-Verlag Berlin Heidelberg 2001.

关键词： robotics

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Model predictive control to improve visual control of motion: Applications in active tracking of moving targets

Model predictive control to improve visual control of motion...

引用

15th International Conference on Pattern Recognition, ICPR 2000

作者： Barreto, João P. Batista, Jorge Araújo, Helder Institute of Systems and Robotics Dept. Of Electrical Engineering University of Coimbra Coimbra3030 Portugal

ISBN: (纸本)0769507506

Deals with active tracking of 3D moving targets. Visual tracking is presented as a regulation control problem. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. Delays and system latencies substantially affect the performance of visually guided systems. We discuss ways to cope with delays while improving system performance. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion. © 2000 IEEE.

关键词： Model predictive control

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Model predictive control to improve visual control of motion: applications in active tracking of moving targets

Model predictive control to improve visual control of motion...

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International Conference on Pattern Recognition

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

ISBN: (纸本)0769507506

关键词： Predictive models Predictive control Motion control Delay Target tracking Cameras Servosystems Optical feedback Optical filters Servomechanisms

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A focusing-by-vergence system controlled by retinal motion disparity

A focusing-by-vergence system controlled by retinal motion d...

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IEEE International Conference on robotics and Automation (ICRA)

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

We describe a focusing-by-vergence system combining a flow based vergence process with an off-line pre-calibration of the focusing odometry. The vergence process is controlled by the retinal optical flow disparity and the target depth velocity is directly obtained from this disparity. The relationship between the target depth (focused target distance) and the focusing odometry of the motorized lens is obtained by an off-line focusing calibration, using a bivariate polynomial to model the relationship between these parameters. The focusing system is velocity controlled and the focusing velocity is dependent on the target focusing depth velocity and the focal distance velocity. The influence of the focal distance velocity that arise due to the focusing process itself is compensated by the adjustment of the zoom parameter based on a constant magnification approach, or through the modeling of the focal distance as a function of the zoom and focus lens settings.

关键词： Motion control Control systems Retina Velocity control Lenses Optical control Process control Image motion analysis Calibration Polynomials

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Binocular tracking and accommodation controlled by retinal motion flow

Binocular tracking and accommodation controlled by retinal m...

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International Conference on Pattern Recognition

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

ISBN: (纸本)0769507506

Describes a tracking and accommodation system controlled by retinal motion flow. The tracking system decomposes two basic behaviors: smooth-pursuit and vergence. Both behaviors are optical flow based. The eye's accommodation (focusing) is based on a focusing-by-vergence approach combining a flow based vergence process with an off-line pre-calibration of the lens focusing odometry. The focusing and tracking system run in parallel and are both velocity controlled.

关键词： Tracking Motion control Retina Focusing Velocity control Geometry Angular velocity Control systems Equations Lenses

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A surveillance system integrating visual telepresence

A surveillance system integrating visual telepresence

引用

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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