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17th Annual Workshop on vision, Modeling and Visualization, VMV 2012

作者： Amthor, M. Haase, D. Denzler, J. Computer Vision Group Department of Mathematics and Computer Science Friedrich Schiller University of Jena Germany

ISBN: (纸本)9783905673951

Recent advances in the understanding of animal locomotion have proven it to be a key element of many fields in biology, motion science, and robotics. For the analysis of walking animals, high-speed x-ray videography isemployed. For a biological evaluation of these x-ray sequences, anatomical landmarks have to be located in each frame. However, due to the motion of the animals, severe occlusions complicate this task and standard tracking methods can not be applied. We present a robust tracking approach which is based on the idea of dividing a template into sub-templates to overcome occlusions. The difference to other sub-template approaches is that we allow soft decisions for the fusion of the single hypotheses, which greatly benefits tracking stability. Also, we show how anatomical knowledge can be included into the tracking process to further improve the performance. Experiments on real datasets show that our method achieves results superior to those of existing robust approaches. © 2012 The Eurographics Association.

关键词： Animals

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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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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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Event-based particle filtering for robot self-localization

Event-based particle filtering for robot self-localization

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IEEE International Conference on robotics and Biomimetics

作者： David Weikersdorfer Jörg Conradt Department of Mathematics and Computer Science and part of the Intelligent Autonomous Systems Group Technical University Munich Germany Department of Electrical Engineering and head of the group Neuroscientific System Theory (NST) Technical University Munich Germany

ISBN: (纸本)9781467321259

We propose a novel algorithm for robot self-localization using an embedded event-based sensor. This sensor produces a stream of events at microsecond time resolution which only represents pixel-level illumination changes in a scene, as e.g. caused by perceived motion. This is in contrast to classical image sensors, which wastefully transmit redundant information at a much lower frame rate. Our method adapts the commonly used Condensation Particle Filter Tracker to such event-based sensors. It works directly with individual, highly ambiguous pixel-events and does not employ event integration over time. The lack of complete discrete sensory measurements is addressed by applying an exponential decay model for hypotheses likelihood computation. The proposed algorithm demonstrates robust performance at low computation requirements; turning it suitable for implementation in embedded hardware on small autonomous robots. We evaluate our algorithm in a simulation environment and with experimental recorded data.

关键词： Filtering using applying Particle filters Filtration Robot Event-based Simulated Environment embedded hardware Sensors (image) information redundancy Frame Rate Robust control temporal resolution Sensors

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Using mobile relays in multi-robot exploration

Using mobile relays in multi-robot exploration

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2011 Australasian Conference on robotics and Automation

作者： De Hoog, Julian Cameron, Stephen Jiménez-González, Adrian De-Dios, J. Ramiro Martínez Ollero, Anibal Department of Computer Science University of Oxford United Kingdom Robotics Vision and Control Group University of Sevilla Spain

ISBN: (纸本)9780980740424

Many robotics tasks require autonomous exploration by teams of robots. In difficult or large environments, communication drop-out complicates this task. Several approaches exist that aim to keep the team connected, but even so there is an inherent limit to the range that can be explored. In this paper we describe and examine Role-Based Exploration, an approach that uses mobile relays to ferry information back and forth within the team, and compare it to methods that do not. There are significant advantages in the use of such relays, such as improved coordination and responsiveness, and adaptability to unexpected communication dropout. The approaches are implemented and validated on a team of real robots.

关键词： Robots

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Supervised texture segmentation through a multi-level pixel-based classifier based on specifically designed filters

Supervised texture segmentation through a multi-level pixel-...

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IEEE International Conference on Image Processing

作者： Jaime Melendez Xavier Girones Domenec Puig Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Spain

This paper presents a new, efficient technique for supervised texture segmentation based on a set of specifically designed filters and a multi-level pixel-based classifier. Filter design is carried out by means of a neural network, which is trained to maximize the filters' discrimination power among the texture classes under consideration. Texture features obtained with these filters are then processed by a classification scheme that utilizes multiple evaluation window sizes following a top-down approach, which iteratively refines the resulting segmentation. The proposed technique is compared to previous supervised texture segmenters by using both synthetic compositions and real outdoor textured images.

关键词： Filter banks Image segmentation Feature extraction Gabor filters Adaptive filters Conferences Support vector machines

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