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Automatic generation of modules of object categorization for autonomous mobile robots

AIP Conference Proceedings 2013年第1期1558卷

作者： Anna Gorbenko Ural Federal University Department of Intelligent Systems and Robotics Mathematics and Computer Science Institute Lenin st. 51 620083 Ekaterinburg Russia

Many robotic tasks require advanced systems of visual sensing. Robotic systems of visual sensing must be able to solve a number of different complex problems of visual data analysis. Object categorization is one of such problems. In this paper, we propose an approach to automatic generation of computationally effective modules of object categorization for autonomous mobile robots. This approach is based on the consideration of the stack cover problem. In particular, it is assumed that the robot is able to perform an initial inspection of the environment. After such inspection, the robot needs to solve the stack cover problem by using a supercomputer. A solution of the stack cover problem allows the robot to obtain a template for computationally effective scheduling of object categorization. Also, we consider an efficient approach to solve the stack cover problem. In particular, we consider an explicit reduction from the decision version of the stack cover problem to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.

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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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The hamiltonian alternating path problem

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IAENG International Journal of Applied mathematics 2012年第4期42卷 204-213页

作者： Gorbenko, Anna Popov, Vladimir Ural Federal University Department of Intelligent Systems and Robotics of Mathematics Computer Science Institute 620083 Ekaterinburg Russia

In this paper, we consider the Hamiltonian alternating path problem for graphs, multigraphs, and digraphs. We describe an approach to solve the problem. This approach is based on constructing logical models for the problem. We use logical models for the Hamiltonian alternating path problem to solve the Hamiltonian path problem and the planning a typical working day for indoor service robots problem. Also, we use these models for Bennett's model of cytogenetics, automatic generation of recognition modules, and algebraic data.

关键词： Hamiltonians

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The c-fragment longest arc-preserving common subsequence problem

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2012年第3期39卷 231-238页

作者： Gorbenko, Anna Popov, Vladimir Ural Federal University Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

Arc-annotated sequences are useful in representing the structural information of RNA and protein sequences. In particular, arc-annotated sequences are useful in describing the secondary and tertiary structures of RNA and protein sequences. Structure comparison for RNA and for protein sequences has become a central computational problem bearing many challenging computer science questions. The longest arc-preserving common subsequence problem has been introduced as a framework for studying the similarity of arc-annotated sequences. It is a sound and meaningful mathematical formalization of comparing the secondary structures of molecular sequences. In this paper, we consider two special cases of the longest arc-preserving common subsequence problem, efragment LAPCS (unlimited, plain), c-fragment LAPCS (unlimited, unlimited). In particular, we consider a parameterized version of the 1-fragment LAPCS (unlimited, plain) problem, parameterized by the length l of the desired subsequence. We show W[1]-completeness of the problem. Also, we describe an approach to solve c-fragment LAPCS (unlimited, unlimited). This approach is based on constructing logical models for the problem.

关键词： RNA

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A benchmark for the evaluation of RGB-D SLAM systems

A benchmark for the evaluation of RGB-D SLAM systems

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2012 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Jürgen Sturm Nikolas Engelhard Felix Endres Wolfram Burgard Daniel Cremers Computer Vision Group Computer Science Department Technical University of Munich Germany Autonomous Intelligent Systems Laboratory Computer Science Department University of Freiburg Germany

ISBN: (纸本)9781467317375

In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.

关键词： Cameras Simultaneous localization and mapping Calibration Trajectory Visualization

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Dependence Tree Structure Estimation via Copula

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International Journal of Automation and computing 2012年第2期9卷 113-121页

作者： Jian Ma Zeng-Qi Sun Sheng Chen Hong-Hai Liu Department of Computer Science Tsinghua University Beijing 100084 PRC Electronics and Computer Science Faculty of Physical and Applied Sciences University of Southampton Southampton SO17 1B J UK Faculty of Engineering King Abdulaziz University Jeddah 21589 Saudi Arabia Intelligent Systems and Robotics Research Group School of Creative Technologies University of Portsmouth Portsmouth PO1 2D J UK

We propose an approach for dependence tree structure learning via copula. A nonparametric algorithm for copula estimation is presented. Then a Chow-Liu like method based on dependence measure via copula is proposed to estimate maximum spanning bivariate copula associated with bivariate dependence relations. The main advantage of the approach is that learning with empirical copula focuses on dependence relations among random variables, without the need to know the properties of individual variables as well as without the requirement to specify parametric family of entire underlying distribution for individual variables. Experiments on two real-application data sets show the effectiveness of the proposed method.

关键词： Copula empirical copula dependence tree structure learning probability distribution.

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A generalized framework for opening doors and drawers in kitchen environments

A generalized framework for opening doors and drawers in kit...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Thomas Rühr Jürgen Sturm Dejan Pangercic Michael Beetz Daniel Cremers Intelligent Autonomous Systems group Computer Science Department Technische Universität München Germany Computer Vision and Pattern Recognition group Computer Science Department Technische Universität München Germany

In this paper, we present a generalized framework for robustly operating previously unknown cabinets in kitchen environments. Our framework consists of the following four components: (1) a module for detecting both Lambertian and non-Lambertian (i.e. specular) handles, (2) a module for opening and closing novel cabinets using impedance control and for learning their kinematic models, (3) a module for storing and retrieving information about these objects in the map, and (4) a module for reliably operating cabinets of which the kinematic model is known. The presented work is the result of a collaboration of three PR2 beta sites. We rigorously evaluated our approach on 29 cabinets in five real kitchens located at our institutions. These kitchens contained 13 drawers, 12 doors, 2 refrigerators and 2 dishwashers. We evaluated the overall performance of detecting the handle of a novel cabinet, operating it and storing its model in a semantic map. We found that our approach was successful in 51.9% of all 104 trials. With this work, we contribute a well-tested building block of open-source software for future robotic service applications.

关键词： Robot sensing systems Kinematics Robot kinematics Grippers Solid modeling Trajectory

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

作者： Corpuz, Francis James Naval, Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Department of Computer Science College of Engineering University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Special Projects Laboratory Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781457720895

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment. © 2012 IEEE.

关键词： Reefs

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS - Europe

作者： Francis James Corpuz Prospero Naval Eusebio Capili Jaylord Jauod Roel John Judilla Maricor Soriano Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Mapua Robotics Center Special Projects Laboratory Institutional Laboratory Mgmt Office Mapua Institute of Technology Manila Philippines Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics University of Philippines Quezon Philippines

关键词： Image segmentation Sea measurements Cameras Labeling Discrete Fourier transforms Sea floor

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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