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IEEE International Conference on Electronics, Circuits and systems (ICECS)

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

In mobile systems the position and attitude of the active vision system's cameras can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information, as happens with the vestibular system in human and other animals. In this article, we present our integrated inertial and vision systems. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt, and an implemented process of visual fixation. An inertial system prototype, based on low-cost sensors, was built. The inertial sensor data is used to segment the ground plane in the images. For on-the-fly visualisation of the segmented images and the detected ground points a VRML viewer is used.

关键词： Machine vision Cameras Sensor systems Image segmentation Position measurement Humans Animals Prototypes Image sensors Visualization

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Ground plane detection using visual and inertial data fusion

Ground plane detection using visual and inertial data fusion

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

Active vision systems can be used in robotic systems for navigation. The active vision system provides data on the robot's environment. In mobile systems the position and attitude of the cameras relative to the world can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information to aid the image processing task. In human and other animals the vestibular system plays a similar role. In this article, we explain our recent steps in the integration of inertial data with an active vision system. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt. A process of visual fixation has already been implemented, enabling symmetric vergence on any selected point. An inertial system prototype, based on low-cost sensors was built. It is used to keep track of the gravity vector, allowing the identification of the vertical in the images. By performing visual fixation of a ground plane point, and knowing the 3D vector normal to level ground we can determine the ground plane. The image can therefore be segmented, and the ground plane along which the robot can move identified. For on-the-fly visualisation of the segmented images and the detected points a VRML viewer is used.

关键词： Machine vision Robot vision systems Robot sensing systems Cameras Sensor systems Image segmentation Navigation Position measurement Image sensors Image processing

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Building geometric certainty maps and application to the navigation of a mobile robot

Building geometric certainty maps and application to the nav...

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Annual Conference of Industrial Electronics Society

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

Autonomous robots must be able to learn and maintain models of their environments. This paper introduces a new approach, based on the fuzzy ART neural architecture, for on-line map building from actual sensor data collected with a mobile robot. This method is then integrated, as a complement, on the parti-game learning approach, allowing the system to make a more efficient use of collected sensor information. Also, a predictive on-line trajectory filtering method, is introduced in the learning approach. Instead of having a mechanical robot moving to search the world, the idea is to have the system analysing trajectories in a predictive mode, by taking advantage of the improved world model. The real robot will only move to try trajectories that have been predicted to be successful, allowing lower exploration costs. This results in an overall new and powerful method for simultaneous and cooperative construction of a world model, and learning to navigate from an initial position to a goal region in an unknown world. It is assumed that the robot knows its own current world location, and is able to perform sensor-based obstacle detection (not avoidance), and straight-line motions. Results of experiments with a real Nomad 200 mobile robot are presented, demonstrating the effectiveness of the proposed methods.

关键词： Navigation Robot sensing systems Trajectory Buildings Mechanical sensors Mobile robots Subspace constraints Sensor systems Filtering Predictive models

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Real-time active visual surveillance by integrating peripheral motion detection with foveated tracking

Real-time active visual surveillance by integrating peripher...

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IEEE Workshop on Visual Surveillance

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

In this paper we describe an active binocular tracking system integrating peripheral motion detection. The system is made up of a binocular active system used to track the objects and a fixed camera providing wide angle images of the environment. The system can cope with changes in lighting conditions by adjusting aperture and focus. Binocular flow enables tracking of nonrigid objects even when partial occlusion occurs.

关键词： Surveillance Motion detection Cameras Application software Target tracking Computer vision Image resolution Apertures Focusing Humans

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A new 3D optical triangulation sensor for robotics

A new 3D optical triangulation sensor for robotics

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International Workshop on Advanced Motion Control (AMC)

作者： L. Marques U. Nunes A.T. de Almeida Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

Describes an optical range sensor that measures distance and orientation from surfaces. The sensor uses three laser diodes and a position sensitive detector (PSD) camera. The lasers are parallel to each other in a way that their interception points with the surface define a triangle. The coordinates of each intersection point imaged on the camera can be determined by triangulation. The orientation of the triangular surface patch can be calculated by the cross product of any two sides of the triangle. Experimental results taken with a first prototype show distance accuracy of about 0.05 mm, and orientation accuracy of 0.1/spl deg/. The prototype can take measures from 60 mm to 750 mm.

关键词： Optical sensors Robot sensing systems Cameras Prototypes Robot kinematics Sensor phenomena and characterization Diode lasers Position sensitive particle detectors Robot vision systems Surface emitting lasers

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Ground plane detection by fusing visual and inertial information

Ground plane detection by fusing visual and inertial informa...

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International Workshop on Advanced Motion Control (AMC)

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

In mobile systems the position and attitude of the active vision system's cameras can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information, as happens with the vestibular system in human and other animals. We present our integrated inertial and vision systems. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt, and an implemented process of visual fixation. An inertial system prototype, based on low-cost sensors, was built. The inertial sensor data is used to segment the ground plane in the images. It is used to keep track of the gravity vector, allowing the identification of the vertical in the images. By performing visual fixation of a ground plane point, and knowing the 3D vector normal to level ground, we can determine the ground plane. The image can therefore be segmented, and the ground plane along which the robot can move identified.

关键词： Machine vision Cameras Sensor systems Image segmentation Position measurement Humans Animals Prototypes Image sensors Gravity

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Integration of inertial information with vision

Integration of inertial information with vision

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Annual Conference of Industrial Electronics Society

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

Active vision systems can be used in robotic systems for navigation. The active vision system provides data on the robot's environment. In mobile systems the position and attitude of the cameras relative to the world can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information to aid the image processing task. In human and other animals the vestibular system plays a similar role. In this article, we explain our steps in the integration of inertial data with an active vision system. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt. A process of visual fixation has already been implemented, enabling symmetric vergence on any selected point. An inertial system prototype, based on low-cost sensors was built. It is used to keep track of the gravity vector, allowing the identification of the vertical in the images. By performing visual fixation of a ground plane point, and knowing the 3D vector normal to level ground, we can determine the ground plane. The image can therefore be segmented, and the ground plane along which the robot can move identified. For on-the-fly visualisation of the segmented images and the detected points a VRML (virtual reality modelling languages) viewer is used.

关键词： Machine vision Robot vision systems Robot sensing systems Cameras Sensor systems Image segmentation Navigation Position measurement Image sensors Image processing

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Short-range DGPS for mobile robots with wireless Ethernet links

Short-range DGPS for mobile robots with wireless Ethernet li...

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International Workshop on Advanced Motion Control (AMC)

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

For outdoor mobile robot applications the satellite based GPS system is available for position estimation. Differential GPS can add to the precision but requires a fixed receiver at a known position and some communication link. Typically differential GPS data is sent over dedicated radio links or broadcast. For short-range applications, where multiple robots move around an outdoors workspace, a wireless Ethernet link with multiple access points, and supporting multiple robots, is a good and cost-effective solution. The net can be used, amongst other things, for sending the differential data from a local fixed receiver to the robots. In the article we present a client/server model that enables the mobile robot to sign-up with the server and receive the DGPS data over the Internet, allowing the calculation of a more precise position. This provides a simple and flexible method of implementing DGPS corrections. Some field tests are presented that show that this simple approach can provide good results, without being an expensive solution.

关键词： Global Positioning System Mobile robots Ethernet networks Satellite broadcasting Receivers Web server Mobile communication Radio link Radio broadcasting Internet

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RobChair - A Semi-Autonomous Wheelchair for Disabled People

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IFAC Proceedings Volumes 1998年第3期31卷 509-513页

作者： G. Pires U. Nunes A.T. de Almeida Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Polo II 3030 Coimbra Portugal

This paper describes the RobChair assistive navigation system. RobChair is a project under development which aims to assist disabled people to operate powered wheelchairs. RobChair is being developed in order to provide several levels of functionality to assist different users. This paper describes some reactive navigational strategies, namely the potential field method, used for local obstacle avoidance; presents a teleoperation environment to allow remote operation by Internet observers; and introduces a voice human-machine interface (HMI).

关键词： behavioural architecture obstacle avoidance human-machine interface

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Robot navigation using visual information

Robot navigation using visual information

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Annual Conference of Industrial Electronics Society

作者： I. Fonseca J. Dias ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

This paper addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot's steering and forward movements just using visual information as feedback. The steering control solution is based on the difference between signals of visual motion flow computed in images on different positions of a virtual image sphere. The majority of solutions based on motion flow and proposed until now, were usually very unstable because they normally compute other parameters from the motion flow. In our case the control is based directly on the difference between motion flow signals on different images. Those multiple images are obtained by small mirrors, that simulate cameras positioned in different positions on the image sphere. Another new version for the spherical sensor is under development. The control algorithm described in this work is based on a discrete-event approach to generate a controlling feedback signal for navigation of an autonomous robot with an active vision system as described.

关键词： Navigation Feedback Motion control Robot vision systems Control systems Mobile robots Robot control Mirrors Computational modeling Cameras

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