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A parallel architecture for AI nonlinear planning

A parallel architecture for AI nonlinear planning

引用

International Conference on Tools for Artificial Intelligence (ICTAI)

作者： S. Lee K. Chung Institute for Robotics and Intelligent Systems Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA

The authors present a resource-level conflict detection and conflict resolution scheme which is combined with a state-level backward planning algorithm and provides efficient conflict detection and global conflict resolution for nonlinear planning. The scheme is to keep track of the usage of individual resources during planning and construct a resource-usage flow (RUF) structure (based on which conflict detection and resolution are accomplished). The RUF structure allows the system to perform minimal and nonredundant operations for conflict detection and resolution. Furthermore, resource-level conflict detection and resolution facilitates problem decomposition in terms of resources, thereby providing easy implementation in a parallel and distributed processing environment. Performance analysis indicates that the proposed architecture has a speed-up factor of the average depth of a plan network, D(N/sub a/), compared to the distributed NOAH where N/sub a/ (the total number of action nodes at the completion of planning) and D(N/sub a/) are considerably larger than the number of resources involved in planning as well as the number of initial goal states.< >

关键词： Parallel architectures Artificial intelligence Process planning Intelligent robots Distributed processing Joining processes Intelligent systems Performance analysis State-space methods Frequency

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Resource-oriented parallel planning

Resource-oriented parallel planning

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： S. Lee K. Chung Institute for Robotics and Intelligent Systems Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA

A new paradigm for constructing a partially ordered plan network, referred to as resource-oriented parallel planning (RP/sup 2/), is presented. In resource-oriented parallel planning, goal states are grouped into a collection of goal state subsets, each of which consists of those goal states associated with a particular resource. A subplan is generated for each goal state subset by planning the flow of the corresponding resource and thus satisfying the constraints specified by each of the goal state subsets. A complete plan is then constructed by synthesizing individual subplans based on the synchronization among subplans. A distinctive feature of RP/sup 2/ is that each subplanner generates a conflict-free subplan by controlling the flow of a particular resource while synthesizing a complete plan in cooperation with other subplanners. The proposed scheme not only makes it possible to generate an optimal plan in terms of the maximum parallelism or the minimum depth of a plan network but also makes it easier to implement the concurrent generation of parallel plans in a parallel and distributed processing environment.< >

关键词： Process planning Network synthesis Intelligent robots Distributed processing Parallel robots Intelligent systems Intelligent networks State-space methods Frequency

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Object recognition and localization using optical proximity sensor system: polyhedral case

Object recognition and localization using optical proximity ...

引用

Workshop on Interpretation of 3D Scenes

作者： S. Lee H.S. Hahn Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors present an algorithm for the recognition and localization of 3D polyhedral objects based on an optical proximity sensor system. In particular, the representation of a polyhedral object and the determination of the optimal sensor trajectory for the next probing are considered. The object representation is based on two levels of hierarchy: the description of a 3D structure by an intersurface relation description table (SDT) and the surface normal vector (SNV) distribution graph, and the description of individual surfaces by interedge relation description tables (EDTs). The partially filled SDT and EDTs of the test object are matched against the SDT and EDTs of a model object to extract all the possible interpretations. In order to achieve the maximum discrimination among all possible interpretations, the optimal sensor trajectory for the next probing is determined as follows: (1) select the optimal beam orientation on the basis of the SNV distribution graph of the multiple interpretation image (MII), where the MII is formed with reference to the hand frame by localizing the test object on the basis of individual interpretations, and (2) determine the optimal probing plane by projecting the MII onto the projection plane perpendicular to the beam orientation and deriving the optimal path on the probing plane. Simulation results are shown.< >

关键词： Object recognition Optical sensors Sensor systems Computer aided software engineering Sensor phenomena and characterization Intelligent robots System testing Noise measurement Robot sensing systems Intelligent systems

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Interpretation of image sequences by spatio-temporal analysis

Interpretation of image sequences by spatio-temporal analysi...

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Workshop on Visual Motion

作者： S.-L. Peng G. Medioni Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

The authors present a system designed to analyze any sequence of closely sampled image frames. They describe recent experiments conducted in a vision laboratory using spatial and temporal information. The importance of temporal information is illustrated by experiments on random dot images and a method to use this information by a best-first-search in the temporal domain is suggested. A more elegant algorithm for extracting motion information in more realistic images is then presented. Results on both synthetic and real image sequences are shown. The advantages and limitations of both approaches are highlighted. It is concluded that, in contrast to most previous approaches, the proposed system should be quite robust, as it is capable of handling occlusion and disocclusion, which are explicitly modeled.< >

关键词： Image sequences Image analysis Image sequence analysis Image edge detection Surface topography Data mining Intelligent robots robotics and automation Motion analysis Motion estimation

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Representing motion using chronogeneous transformation

Representing motion using chronogeneous transformation

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Workshop on Visual Motion

作者： W.O. Franzen Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

The author introduces a matrix representation of rigid and nonrigid 3D motion, which generalizes homogeneous transformation. He calls this transformation a chronogeneous transformation. Just as homogeneous transformations allow rigid transformations and projection to be represented in a linear manner, chronogeneous transformations allow an analogous representation for certain classes of continuous motion/structural deformation. The author categorizes these classes of motion. For example, uniform translation of a rigid object that rotates with uniform angular velocity about a fixed axis is one kind of motion that can be represented. It is straightforward to calculate the matrix representation given the underlying motion parameters and vice versa. It is also shown how the position of a point on an object changes as a result of simultaneous uniform chronogeneous camera and objection motion.< >

关键词： Robustness Parameter estimation Intelligent robots Cameras Motion estimation Semiconductor device modeling Intelligent systems systems engineering and theory Angular velocity Acceleration

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A constraint satisfaction network for matching 3D objects

A constraint satisfaction network for matching 3D objects

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International Joint Conference on Neural Networks (IJCNN)

作者： Parvin Medioni Institute of Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA

A new approach is presented for matching visible surfaces of 3D objects using a constraint satisfaction network. This in turn provides the necessary basis for volumetric reconstruction from multiple views. By matching, the authors mean both to establish correspondence between individual faces and to compute 3D transform that would bring one in correspondence with the other. Toward this goal, constraints at three different levels of complexities are specified to produce stable and coherent assignments. The constraint satisfaction is implemented as a Hopfield network with an appropriate energy functional and minimized using simulated annealing. The system extracts objects faces by computing their bounding contours with adaptive scale space filtering. This process identifies important surface features such as jumps or occluding boundaries and creases. The pointwise feature descriptors are then linked, and an attributed graph is derived to represent the object. The nodes in the graph represent geometric surface features, and the links in the graph represent the relationship between adjacent surfaces. The authors present results on real images.< >

关键词： Filtering Neural networks Pattern recognition Transforms Prediction methods

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Accurate surface description from binocular stereo

Accurate surface description from binocular stereo

引用

Workshop on Interpretation of 3D Scenes

作者： S.D. Cochran G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a stereo vision system in which they attempt to achieve robustness with respect to scene characteristics, from textured outdoor scenes to environments composed of highly regular man-made objects. The system offers the advantages of both area-based (dense map) and feature-based (accurate disparity) processing by combining them whenever possible. The authors are able to geneate a disparity map that is sufficiently accurate to allow them to detect depth and surface orientation discontinuities, provided that the resolution is fine enough. They use an area-based cross-correlation, along with an ordering constraint and a weak surface smoothness assumption to produce an initial disparity map. Unlike other approaches, however, a match is accepted only if both views agree on a correlation peak and this peak is strong enough. This disparity map is a blurred version of the true one, however, because of the smoothing inherent in the correlation. The problem is most acute at C/sub 0/ (depth) and C/sub 1/ (crease) discontinuities but can be mitigated by introducing the edge information: the disparity map is adaptively smoothed subject to the constraint that the disparity at edges is fixed.< >

关键词： Interpolation Layout Dynamic programming Surface texture Noise generators Electric breakdown Image analysis Computer vision Computational modeling Stereo vision

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Issues in geometric reasoning from range imagery

Issues in geometric reasoning from range imagery

引用

IEEE International Conference on systems, Man and Cybernetics

作者： G. Medioni P. Saint-Marc Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors discuss some of the issues that have to be tackled in order to perform geometric reasoning from range imagery. They begin by pointing out that a successful system must deal with real-world data, and therefore take into account the effects of noise and quantization. They suggest that adaptive smoothing may prove to be a helpful tool for such a task. The next stage of processing involves a symbolic representation of the original data. The authors spell out criteria for shape description, discuss current representation schemes and point out their limitations, and then propose some ideas for overcoming such limitations, illustrated on real examples. Finally, they look at the issues in recognition, and more specifically the matching part, with reference to different methodologies, tree search and constraint satisfaction network.< >

关键词： Smoothing methods Shape Intelligent robots Noise shaping Quantization Object recognition Intelligent systems Image recognition Image sensors Navigation

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Adaptive smoothing: a general tool for early vision

Adaptive smoothing: a general tool for early vision

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： P. Saint-Marc J.S. Chen G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a method to smooth a signal-whether it is an intensity image, a range image, or a contour-which preserves discontinuities and thus facilitates their detection. This is achieved by repeatedly convolving the signal with a very small averaging filter modulated by a measure of the signal discontinuity at each point. This process is related to the anisotropic diffusion reported by P. Perona and J. Malik (1987) but it has a much simpler formulation and is not subject to instability or divergence. Real examples show how this approach can be applied to the smoothing of various types of signals. The detected features do not move, and thus no tracking is needed. The last property makes it possible to derive a novel scale-space representation of a signal using a small number of scales. Finally, this process is easily implemented on parallel architectures: the running time on a 16 K connection machine is three orders of magnitude faster than on a serial machine.< >

关键词： Smoothing methods Filters Intelligent robots Computer vision Intelligent systems Anisotropic magnetoresistance Image edge detection Signal processing Wave functions Laplace equations

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Attributed image matching using a minimum representation size criterion

Attributed image matching using a minimum representation siz...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A.C. Sanderson N.J. Foster Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Electrical and Computer Engineering and The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The authors describe a novel approach to image matching which utilizes the minimal representation criterion as a means to obtain robust matching performance, even when image data are extremely noisy. They describe the application of this approach to the problem of matching noisy gray-level images to attributed models. Using the minimum representation criterion, the match between gray-level image features and an attributed graph model incorporates a representation size measure for the modeled points, the data residuals, and the unmodeled points. This structural representation identifies correspondence between a subset of data points and a subset of model points in a manner which minimizes the complexity of the resulting model. The proposed minimum representation matching algorithm is polynomial in complexity, and exhibits robust matching performance on examples where less than 30% of the features are reliable. The minimum representation principle is extensible to related problems using three-dimensional models and multisensor data matching.< >

关键词： Image matching Polynomials Data engineering Sensor systems and applications Robustness Pattern matching systems engineering and theory Sensor phenomena and characterization Robot sensing systems Application software

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