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On integrating depth from motion and stereo

On integrating depth from motion and stereo

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： A.K. Dalmia M. Trivedi Electrical and Computer Engineering Department Computer Vion and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper presents a method to accurately and efficiently extract depth from a sequence of images. The method integrates two techniques of depth extraction, namely, spatial and temporal gradient analysis, and stereo processing to enhance the reliability of the depth extraction. Spatial and temporal gradient analysis has been shown to provide depth in a highly efficient manner. However, due to the small image displacement used in this algorithm, depth with only limited precision can be computed. To enhance the precision, a stereo based matching is performed on the first frame and the last frame of the monocular sequence used in spatial and temporal gradient analysis. The stereo matching is limited to a small region, based on the results of the spatial and temporal gradient analysis. The performance of the approach is demonstrated through experiments with real scenes.< >

关键词： Data mining Displacement measurement Equations Cameras Robots Laboratories Image sequence analysis Performance analysis Machine vision Art

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Real-time visual tracking using correlation techniques

Real-time visual tracking using correlation techniques

引用

IEEE Workshop on Applications of computer Vision (WACV)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The Minimum Noise and Correlation Energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3-D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation. The correlation filter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.< >

关键词： Target tracking Cameras Robot vision systems Visual servoing computer vision Adaptive filters Mobile robots Laboratories Power engineering and energy Pipelines

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Localized Radon transform-based detection of linear features in noisy images

Localized Radon transform-based detection of linear features...

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Copeland Ravichandran Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

This paper presents a Radon transform-based approach to the detection of linear features in images characterized by high noise levels. This approach is based on the localized Radon transform where the intensity integration is performed over short line segments rather than across the entire image. The algorithm, referred to as the feature space line detector (FSLD) algorithm, is tested on synthetic images of linear features with very high noise levels. The results of this testing demonstrate the algorithm's robustness in the presence of noise, as well as its ability to detect and localize linear features that are significantly shorter than the image dimensions or that display some curvature.< >

关键词： Feature extraction

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Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

Fuzzy behavior fusion for reactive control of an autonomous ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.G. Goodridge R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE, to perform realistic tasks in unstructured environments. Control actions for the robot are generated by a colony of independent agents that compete and cooperate to determine the emergent motion of the vehicle. Fuzzy rules are used to implement a diverse array of real-time functions within one simple development environment. The authors' multi-layer approach differs from other methods that perform the fuzzy inference mapping in one step. Real-time control without special hardware is possible by using a singleton centroid calculation and by breaking complex behaviors down into simple modules.< >

关键词： Fuzzy control Mobile robots Fuzzy sets Robot sensing systems Error correction intelligent robots Vehicles Navigation Programming profession Fuzzy logic

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T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

引用

IEEE International Workshop on intelligent Robots and Systems (IROS)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing.< >

关键词： Mobile robots Motion planning intelligent robots Vehicle dynamics Path planning Machine intelligence Computational modeling computer simulation Robot sensing systems Sensor phenomena and characterization

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Autonomous mobile robot motion planning enhanced with extended configuration-space and half-planes

Autonomous mobile robot motion planning enhanced with extend...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

It is commonly argued that C-space buffering is too computationally expensive, consumes too much free space, keeps the robot too close to objects, seals off marginally traversable regions and does not allow for curved path segments. However, the research described in this paper uses half-planes and doors to extend C-space so that mobile robot global motion planning is not only safe and fluid, but also unhindered by tight passageways. Further, it is shown that free space consumption is limited to only what the robot needs to circumnavigate known obstacles.< >

关键词： Mobile robots Motion planning Orbital robotics intelligent robots Computational intelligence Machine intelligence Seals Acceleration Object detection Safety

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Fault diagnosis in complex systems using artificial neural networks

Fault diagnosis in complex systems using artificial neural n...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Tzafestas Dalianis Intelligent Robotics and Control Unit (IRCU) Computer Science Division Electrical & Computer Engineering Department National and Technical University of Athens Athens Greece

Very complex technical and other physical processes require sophisticated methods of fault diagnosis and online condition monitoring. Various conventional techniques have already been well investigated and presented in the literature. However, in the last few years, a lot of attention has been given to adaptive methods based on artificial neural networks, which can significantly improve the symptom interpretation and system performance in a case of malfunctioning. Such methods are especially considered in cases where no explicit algorithms or models for the problem under investigation exist. In such problems, automatic interpretation of faulty symptoms with the use of artificial neural network classifiers is recommended. Two different models of artificial neural networks, the extended backpropagation and the radial basis function, are discussed and applied with appropriate simulations for a real world applications in a chemical manufacturing plant.< >

关键词： Feedforward neural networks Backpropagation Fault diagnosis Large-scale systems Chemical industry Neural network applications

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Motion and depth perception using spatiotemporal frequency analysis

Motion and depth perception using spatiotemporal frequency a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： G. Ravichandran M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robrics Research Laboratory Computer Vision and Robotics Laboratary University of Tennessee Knoxville TN USA

Motion information is extracted by identifying the temporal signature associated with the textured objects in the scene. In this paper, we present a new computational framework for motion perception. Our methodology considers spatiotemporal frequency (STF) domain analysis to extract the optical flow information. First, we show that a sequence of image frames can be used to extract the motion parameters for the different regions in a dynamic scene using the basic Fourier transform properties in the STF analysis approach. When the observer (or the camera) moves, motion is induced in the scene, and the extracted motion information can then be used to estimate the depth parameters. A detailed analytical description of this model to interchangably extract motion and depth parameters and results to highlight their salient properties are presented.< >

关键词： Motion analysis Spatiotemporal phenomena Data mining Layout Image motion analysis Frequency domain analysis Information analysis Fourier transforms Image analysis Image sequence analysis

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TELErobotics AND MOBILE ROBOTS FOR SPACE APPLICATIONS - INTRODUCTION

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ROBOTICA 1994年第6期12卷 479-479页

作者： JAMSHIDI, M CAD Laboratory for Intelligent & Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM87131 (USA)

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On modifying the weights in a modular recurrent connectionist system

On modifying the weights in a modular recurrent connectionis...

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International Joint Conference on Neural Networks (IJCNN)

作者： H. Elsherif M. Hambaba Intelligent Systems Laboratory Electrical Engineering & Computer Science Department Stevens Institute of Technology Hoboken NJ USA

A modular recurrent connectionist architecture is proposed to classify binary and continuous patterns. This system consists of three networks: one feedforward backpropagation (BP) network and two self-organization map (SOM) networks. The feedforward (basic) network is trained until a saturation error level occurs. Simultaneously, the first SOM (input control) network and the last SOM (output control) define the mapping features for the given input/output patterns. The resultant features are used by a Gaussian potential function to adjust the weights of the basic network and to classify the given patterns.< >

关键词： Feedforward systems intelligent systems Laboratories computer science computer architecture Simultaneous localization and mapping Neurons Psychology Hardware Performance evaluation

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