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International Conference on Pattern Recognition

作者： Jaime Melendez Domenec Puig Miguel Angel Garcia Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

ISBN: (纸本)9781424475421

An inherent problem of unsupervised texture segmentation is the absence of previous knowledge regarding the texture patterns present in the images to be segmented. A new efficient methodology for unsupervised image segmentation based on texture is proposed. It takes advantage of a supervised pixel-based texture classifier trained with feature vectors associated with a set of texture patterns initially extracted through a clustering algorithm. Therefore, the final segmentation is achieved by classifying each image pixel into one of the patterns obtained after the previous clustering process. Multi-sized evaluation windows following a top-down approach are applied during pixel classification in order to improve accuracy. The proposed technique has been experimentally validated on MeasTex, VisTex and Brodatz compositions, as well as on complex ground and aerial outdoor images. Comparisons with state-of the-art unsupervised texture segmenters are also provided.

关键词： Image segmentation Pixel Clustering algorithms Accuracy Feature extraction Classification algorithms Image edge detection

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Robust Color Image Segmentation through Tensor Voting

Robust Color Image Segmentation through Tensor Voting

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International Conference on Pattern Recognition

作者： Rodrigo Moreno Miguel Angel Garcia Domenec Puig Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

ISBN: (纸本)9781424475421

This paper presents a new method for robust color image segmentation based on tensor voting, a robust perceptual grouping technique used to extract salient information from noisy data. First, an adaptation of tensor voting to both image denoising and robust edge detection is applied. Second, pixels in the filtered image are classified into likely-homogeneous and likely-inhomogeneous by means of the edginess maps generated in the first step. Third, the likely-homosgeneous pixels are segmented through an efficient graph-based segmenter. Finally, a modified version of the same graph-based segmenter is applied to the likely-inhomogeneous pixels in order to obtain the final segmentation. Experiments show that the proposed algorithm has a better performance than the state-of-the-art.

关键词： Pixel Image segmentation Tensile stress Robustness Image color analysis Image edge detection Noise measurement

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Heterogeneous sensor fusion framework for autonomous mobile robot obstacle avoidance

Heterogeneous sensor fusion framework for autonomous mobile ...

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2010 10th International Conference on intelligent Systems Design and Applications, ISDA'10

作者： Zia, Ali Gulrez, Tauseef Chaudhry, Tayyab Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M. A. Jinnah Campus Defence Road Lahore Pakistan

ISBN: (纸本)9781424481354

This paper addresses the problem of moving obstacle detection for autonomous mobile robots in unknown urban environments through the fusion of (vehicle-mounted) forward looking laser and vision sensors. In this approach we reparameterize the 2D gaussian distribution of the laser free-configuration eigenspaces by vision saliency gaussian kernel function. The approach uses bi-sensor paradigm to achieve greater effective mapping of the environment and improved accuracy in obstacle position estimation. Where the laser lower dimensional manifolds provide an eigenvector which corresponds to the free configuration space of the high order geometric representation of the environment and vision based edge detection followed by the saliency mapping provides the road detection and existance of dynamic obstacles on the road. We have shown that while the vectorial combination of eigenvectors at discrete time scan-frames of laser data manifest a trajectory, and once followed and fused with the vision sensor data, enables mobile robot to build an efficient and accurate online environment map free of obstacles. We demonstrated this process using real-time NAVLAB CMU (Autonomous Jeep's) data-set which is a good representation of autonomous mobile robot's navigation in an urban environment. © 2010 IEEE.

关键词： Eigenvalues and eigenfunctions

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MULTI-CAMERA POSITIONING FOR AUTOMATED TRACKING SYSTEMS IN DYNAMIC ENVIRONMENTS

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International Journal of Information Acquisition 2010年第3期7卷 225-242页

作者： YI YAO CHUNG-HAO CHEN BESMA ABIDI DAVID PAGE ANDREAS KOSCHAN MONGI ABIDI Visualization and Computer Vision Lab GE Global Research USA Department of Mathematics and Computer Science North Carolina Central University USA Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville USA

Most existing camera placement algorithms focus on coverage and/or visibility analysis, which ensures that the object of interest is visible in the camera's field of view (FOV). According to recent literature, handoff safety margin is introduced to sensor planning so that sufficient overlapped FOVs among adjacent cameras are reserved for successful and smooth target transition. In this paper, we investigate the sensor planning problem when considering the dynamic interactions between moving targets and observing cameras. The probability of camera overload is explored to model the aforementioned interactions. The introduction of the probability of camera overload also considers the limitation that a given camera can simultaneously monitor or track a fixed number of targets and incorporates the target's dynamics into sensor planning. The resulting camera placement not only achieves the optimal balance between coverage and handoff success rate but also maintains the optimal balance in environments with various target densities. The proposed camera placement method is compared with a reference algorithm by Erdem and Sclaroff. Consistently improved handoff success rate is illustrated via experiments using typical office floor plans with various target densities.

关键词： Sensor planning visual surveillance multiple camera systems camera handoff

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Heterogeneous sensor fusion framework for autonomous mobile robot obstacle avoidance

Heterogeneous sensor fusion framework for autonomous mobile ...

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International Conference on intelligent Systems Design and Applications (ISDA)

作者： Ali Zia Tauseef Gulrez Tayyab Chaudhry Department of Computer Science Intelligent Machines & Robotics Research Group COMSATS Institute of Information Technology Lahore Pakistan

关键词： Robot sensing systems Laser modes Collision avoidance Mobile robots Gaussian distribution

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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2010 10th International Conference on intelligent Systems Design and Applications, ISDA'10

作者： Chaudhry, Tayyab Gulrez, Tauseef Zia, Ali Zaheer, Shyba Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M.A. Jinnah Campus Defence Road Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai United Arab Emirates

ISBN: (纸本)9781424481354

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system. © 2010 IEEE.

关键词： Trajectories

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The design of a single degree of freedom open-loop spatial mechanism that incorporates geared connections

The design of a single degree of freedom open-loop spatial m...

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2009 ASME International Mechanical Engineering Congress and Exposition, IMECE2009

作者： Bari, Joseph M. Crane III, Carl D. Dooner, David B. Mckinley, Javier Roldan University of Florida Center for Intelligent Machines and Robotics Gainesville FL United States University of Puerto Rico at Mayaguez Department of Mechanical Engineering Mayaguez Puerto Rico LaGuardia Community College C.U.N.Y. Mathematics Engineering and Computer Science United States

ISBN: (纸本)9780791843772

A means has been discovered to apply gear pairing to create a one degree of freedom open-loop spatial mechanism. A specially chosen geometry consisting of three pairs of parallel joint axes is constricted by five sets of gears, three of which are parallel planar, allows for a reconfigurable mechanism that is suited for repetitive tasks. Previous work has examined three-dimensional rigid body guidance in closed-loop geared mechanisms, but has not come to a solution for the open-loop case. Gear pairs are designed based upon a desired position and orientation path for the end effector. Numerical optimization is performed to obtain physically realizable gear profiles. Noncircular gear centrodes must be continuous and smooth as well as mono-directional, that is, gear ratios of a given pair may not switch signs. These constraints eliminate non-realizable or non-optimal gears in favor of simple, more easily produced profiles. Variable parameters include link lengths, joint offsets and twist angles. Numerical examples are presented. Copyright © 2010 by ASME.

关键词： Gears

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Visual guided robotic endodontic therapeutic system

Visual guided robotic endodontic therapeutic system

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International Conference on Information and Emerging Technologies, ICIET

作者： Tauseef Gulrez Abdul Karim Shahid Usman Sana Nadeem Ghafoor Chaudhary Intelligent Machines & Robotics Research Group Department of Computer Science Comsats Institute of Information Technology Lahore Pakistan Intelligent Machines & Robotics Research Group COMSATS Institute of Information Technology Lahore Pakistan Medical and Dental College The University of Lahore Pakistan

In this study, a visual-guided robotic endodontic therapeutic system was assessed, a specially designed visual servo controller model is also proposed in this system. Visual-guided robotic system will be mounted on the teeth within patient's mouth, while robot controller, and a root-canal image processor have shared control over its motion. With an on-line monitoring and positioning control, the multipurpose robotic system will perform automatic treatment procedures, including probing, drilling, filing, cleaning and filling. This paper will discuss the preliminary results on image processing based electrical torque control design of the proposed robotic system. The paper will also discuss the innovations involved from the traditional way endodontists treat root canal to science and technology based automation.

关键词： Irrigation Torque Robot kinematics Surgery Pixel Instruments

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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International Conference on Communication and Computational Intelligence (INCOCCI)

作者： C Adithya K Kowsik D Namrata V S Nageli Sangeeta Shrivastava S Rakshit Department of Information Science B. M. Sreenivasaiah College of Engineering Bangalore India Computer Vision Group Center for Artificial Intelligence and Robotics Bangalore India

Paper map visualization is good value proposition, even in the `everything is digital' world, because of the huge information density and ease of use at any remote or mobile location, especially in the military context. Completely doing away with the paper map brings in a discomfort factor for the military user. In this paper, we present a paper map data visualization solution that augments the information from the digital world onto a spread of a paper map. Augmented Reality techniques are used to enhance paper maps digitally resulting in a 3D visualization space with some interactions. The dynamic information of the terrain, placing virtual objects and interaction are features of the digital world that are superimposed onto a paper map. We have used ARToolkit marker tracking based approach and a see through Head Mounted Device for implementation. The digital elevation data in VRML format is split into smaller bits before rendering. The rendering is done after culling the relevant part of the terrain data and the same is popped up in stereo for enhanced visualization. The user can place virtual objects using markers. The distance between markers (user and reference) is calculated and is used for interactive features. The interaction options are load/select, slice/split and latch/freeze. We have achieved better performance by loading only the region of interest and not the complete terrain. The paper also illustrates the basic hardware set-up required for implementation.

关键词： Augmented reality Data visualization Cameras Three dimensional displays Rendering (computer graphics) Solid modeling Training

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Adaptive real-time video-tracking for arbitrary objects

Adaptive real-time video-tracking for arbitrary objects

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2010 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dominik A. Klein Dirk Schulz Simone Frintrop Armin B. Cremers Intelligent Vision Systems Group Department of Computer Science III Rheinische Friedrich-Wilhelms-Universität Bonn Germany US Armed Systems Group Fraunhofer FKIE Wachtberg Germany

In this paper, we present a visual object tracker for mobile systems that is able to specialize to individual objects during tracking. The core of our method is a novel observation model and the way it is automatically adapted to a changing object and background appearance over time. The model is integrated into the well known Condensation algorithm (SIR filter) for statistical inference, and it consists of a boosted ensemble of simple threshold classifiers built upon center-surround Haar-like features, which the filter continuously updates based on the images perceived. We present optimizations and reasonable approximations to limit the computational costs. Thus, the final algorithms are capable of processing video input at real-time. To experimentally investigate the gain of adapting the observation model we compare two different approaches with a non-adapting version of our observation model: maintaining a single observation model for all particles, and maintaining individual observation models for each particle. In addition, experiments were conducted to compare system performances between the proposed algorithms and two other state of the art Condensation based tracking approaches.

关键词： Adaptation model Computational modeling Histograms Training Target tracking Real time systems Image color analysis

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