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Visual inspection and 3D reconstruction based on image-to-mirror planes

Visual inspection and 3D reconstruction based on image-to-mi...

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IEEE International Conference on Industrial Technology (ICIT)

作者： N. Martins J. Dias Department de Engineering Informática e de Sistemas Instituto Superior de Engenharia de Coimbra Portugal Robotics and Systems Institute Electrical Engeneering Department University of Coimbra Portugal

This article addresses the problem of recovering a tridimensional scene from only one uncalibrated static camera and images from planar mirrors. We present a linear solution for 3D Euclidean reconstruction based on multiocular geometry, epipolar geometry and projective geometric properties. From the recovered points of the scene we can obtain information related with distances, areas, curvatures, dimensions and even volumes of its objects. A system based on this technique could be applied on the industry, in tasks of great importance, such as the quality tests and metrology inspection. The system is simple, low cost and could achieve good performance.

关键词： Inspection Image reconstruction Layout Cameras Robot vision systems Computational geometry Mirrors Ear System testing Metrology

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Application of nonlinear filtering to navigation system design using nonlinear passive sensors

Application of nonlinear filtering to navigation system desi...

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IEEE Conference on Decision and Control

作者： O. Yakimenko I. Kaminer A. Pascoal Wei Kang National Research Council Fellow at the Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Montreal CA USA Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Montreal CA USA Department of Electrical Engineering and Institute for Systems and Robotics Instituto Superior Technico Lisboa Portugal Department of Mathematics Naval Postgraduate School Montreal CA USA

ISBN: (纸本)0780366387

Addresses the problem of navigation system design for autonomous aircraft landing. Nonlinear filter structures are introduced to estimate the position of an aircraft with respect to a possibly moving landing site, such as a naval vessel, based on measurements provided by airborne vision and inertial sensors. Original results that address this problem are presented in Kaminer et al. (1999). In this paper these results are extended to include stereo vision. A detailed example that illustrates the use of the filters is also included.

关键词： Passive filters Filtering Sensor systems and applications Marine vehicles Aircraft navigation Stereo vision Kinematics Aerospace engineering Symmetric matrices Sensor systems

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Sensor fusion for skill transfer systems

Sensor fusion for skill transfer systems

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a "model-free" equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the DLR.

关键词： Sensor fusion Robot sensing systems Humans Filtering Equations Vehicle dynamics Aerodynamics Sensor systems Intelligent robots Training data

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The independent components of characters are 'strokes' 5

The independent components of characters are 'strokes'

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5th International Conference on Document Analysis and Recognition, ICDAR 1999

作者： Srinivasan, S.H. Ramakrishnan, K.R. Bhagavathy, S. Institute for Robotics and Intelligent Systems Bangalore560 001 India Department of Electrical Engineering Indian Institute of Science Bangalore560 001 India Karnataka Regional Engineering College Suratkal India

ISBN: (纸本)0769503187

What are the natural features of handwritten characters and how to arrive at them automatically? We apply independent components analysis on handwritten characters. Independent components analysis extracts the underlying statistically independent signals from a mixture of them. We expect strokes to be the independent components of handwritten characters. Our findings show that stroke-like features emerge as a result of the analysis confirming the above intuition. This finding is significant since it gives automatic procedures for extracting stroke-like features from multilingual character data sets. We use these features for handwritten digit recognition using a very simple classifier. The classifier is chosen to be simple so that the quality of the input feature set can be evaluated. The recognition results indicate that the features arrived at by independent component analysis are useful. © 1999 IEEE.

关键词： Independent component analysis

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Navigation system design using time-varying complementary filters

Navigation system design using time-varying complementary fi...

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Guidance, Navigation, and Control Conference and Exhibit, 1999

作者： Pascoal, A. Kaminer, I. Oliveira, P. Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Tecnico Av. Rovisco Pais Lisboa Codex1096 Portugal Department of Aeronautics and Astronautics Naval Postgraduate School MontereyCA93943 United States

This paper introduces a new methodology for the design of navigation systems for autonomous vehicles. Using simple kinematic relationships, the problem of estimating the velocity and position of an autonomous vehicle is solved by resorting to special bilinear time-varying filters. These are the natural generalization of linear time-invariant complementary filters that are commonly used to properly merge sensor information available at low frequency with that available in the complementary region. Complementary filters lend themselves to frequency domain interpretations that provide valuable insight into the filtering design process. This paper extends these properties to the time-varying setting by resorting to the theory of linear differential inclusions and by converting the problem of weighted filter performance analysis into that of determining the feasibility of a related set of Linear Matrix Inequalities (LMIs). Using this set-up, the stability of the resulting filters as well as their "frequency-like" performance can be assessed using efficient numerical analysis tools that borrow from convex optimization techniques. The paper introduces the mathematical background that is required for complementary time-varying filter analysis and design and describes its application to the design of a navigation system that estimates position and velocity of an autonomous vehicle by complementing position information available from GPS with the velocity information provided by a Doppler sonar system. © 1999 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Bandpass filters

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Multisensor data fusion for skill transfer systems

Multisensor data fusion for skill transfer systems

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

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ER.) University of Coimbra Coimbra Portugal

The paper describes the design of a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is given to achieve a "model-free" equation capable of following arbitrary variables. A stochastic approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and can easily be extended to any arbitrary system. It was successfully tested in The institute of robotics and System Dynamics at the DLR.

关键词： Robot sensing systems Filtering Robustness Training data Humans Erbium Filters System testing Fuzzy logic Navigation

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Data fusion design for skill transfer systems

Data fusion design for skill transfer systems

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ER) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

In modern robotics, the robot is seen not as a mechanical unit, but instead as an intelligent unit, with planning and cognitive structures that are capable of making intelligent decisions and of helping human beings in high-level and interactive tasks. A new generation of robots is ready to emerge: human-oriented robots. In the near future, they should be able to perform perfect human-robot symbiosis, such as helping disabled people in their basic day-to-day problems. A key issue to accomplish this goal is the development of robust skill transfer systems, in order to teach some basic tasks in a natural way. This paper describes the design of a data fusion module for skill transfer applications. It consists of two independent modules for optimal fusion and filtering. A different interpretation of the Kalman filter equations is made, in order to achieve a "model-free" equation that is capable of following arbitrary variables. The presented fusion algorithm is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the German Aerospace Centre (DLR).

关键词： Cognitive robotics Intelligent robots Human robot interaction Intelligent structures Differential equations Aerospace testing Fusion power generation Symbiosis Robustness Filtering

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The independent components of characters are 'strokes'

The independent components of characters are 'strokes'

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International Conference on Document Analysis and Recognition

作者： S.H. Srinivasan K.R. Ramakrishnan Institute for Robotics and Intelligent Systems Bangalore India Department of Electrical Engineering Indian Institute of Science Bangalore India

关键词： Independent component analysis Character recognition Intelligent robots Read only memory Handwriting recognition Intelligent systems Educational institutions Data mining Text analysis Writing

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Circumventing dynamic modeling: evaluation of the error-state Kalman filter applied to mobile robot localization

Circumventing dynamic modeling: evaluation of the error-stat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The mobile robot localization problem is treated as a two-stage iterative estimation process. The attitude is estimated first and is then available for position estimation. The indirect (error state) form of the Kalman filter is developed for attitude estimation when applying gyro modeling. The main benefit of this choice is that combined dynamic modeling of the mobile robot and its interaction with the environment is avoided. The filter optimally combines the attitude rate information from the gyro and the absolute orientation measurements. The proposed implementation is independent of the structure of the vehicle or the morphology of the ground. The method can easily be transferred to another mobile platform provided it carries an equivalent set of sensors. The 2D case is studied in detail first. Results of extending the approach to the 3D case are presented. In both cases the results demonstrate the efficacy of the proposed method.

关键词： Mobile robots Vehicle dynamics Mars Computer errors Intelligent robots Navigation Global Positioning System Sensor systems Wheels Equations

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State estimation of an autonomous helicopter using Kalman filtering

State estimation of an autonomous helicopter using Kalman fi...

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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Myungsoo Jun S.I. Roumeliotis G.S. Sukhatme Department of Electrical Engineering-Systems USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Presents a technique to accurately estimate the state of a robot helicopter using a combination of gyroscopes, accelerometers, inclinometers and GPS. Simulation results of state estimation of the helicopter are presented using Kalman filtering based on sensor modeling. The number of estimated states of helicopter is nine : three attitudes(/spl theta/,/spl phi/,/spl psi/) from the gyroscopes, three accelerations(x/spl ***/,y/spl ***/,z/spl ***/) and three positions (x, y, z) from the accelerometers. Two Kalman filters were used, one for the gyroscope data and the other for the accelerometer data. Our approach is unique because it explicitly avoids dynamic modeling of the system and allows for can elegant combination of sensor data available at different frequencies. We also describe the larger context in which this work is embedded, namely the design and implementation of an autonomous robot helicopter.

关键词： State estimation Helicopters Kalman filters Gyroscopes Accelerometers Filtering Robot sensing systems Global Positioning System Acceleration Sensor systems

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