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检索条件"机构=KAIST Robotics Program"

共 141 条记录，以下是121-130 订阅

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Hierarchical on-line boosting based background subtraction

Hierarchical on-line boosting based background subtraction

引用

Korea-Japan Joint Workshop on Frontiers of Computer Vision

作者： Yongcheol Lee Jiyoung Jung In-So Kweon Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781612846774

This paper presents a real-time background subtraction method which handles illumination changes and dynamic backgrounds such as flapping flags and waving trees. Previous approaches based on Gaussian mixture models usually generates models pixelwise, which makes it difficult to operate in realtime due to computational complexity. Moreover, pixelwise models tend to fail in sudden illumination changes or in dynamic backgrounds. In order to solve this problem, we propose an on-line boosting based background subtraction algorithm. Our approach divides the background area into overlapping patches instead of pixels, and learn classifiers with those patches. The main contribution of this paper is to propose a novel training process for classifiers which use block based Opponent Color Local Binary Pattern (OCLBP). Experimental results show that in environments containing illumination changes and/or dynamic backgrounds, our on-line boosting method using block based OCLBP outperforms previous on-line boosting methods or Gaussian mixture model based methods for robust background subtraction.

关键词： Boosting Training Pixel Image color analysis Lighting Computational modeling Heuristic algorithms

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Hole filled 3D map using mobile robots in the urban environment

Hole filled 3D map using mobile robots in the urban environm...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sang Un Park Inwook Shim Myung Jin Chung Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment.

关键词： Filling Three dimensional displays Laser radar Robot sensing systems Vehicles

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3D mapping in urban environment using geometric featured voxel

3D mapping in urban environment using geometric featured vox...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Inwook Shim Yungeun Choe Myung Jin Chung Robotics Program KAIST Daejeon South Korea Departments of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

In recent year, much progress has been made in outdoor 3D mapping. However, 3D mapping in real time is still a daunting challenge in urban environment. This paper addresses the problem of 3D mapping from 3D laser scans in urban environments in real time. To do this, we proposed geometric featured voxel which can efficiently represent 3D urban structure without loss of geometric properties. For evaluation of the proposed voxel, we use Oakland dataset.

关键词： Three dimensional displays Image color analysis Robot kinematics Real time systems Urban areas Electronic mail

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Verification of registration method using a 3D laser scanner for orthopedic robot systems

Verification of registration method using a 3D laser scanner...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Joon-Yeon Cho Jeong-Yean Yang Min-Seok Lee Dong-Soo Kwon Department of Mechanical Engineering KAIST Daejeon South Korea Department of Robotics Program KAIST Daejeon South Korea

Knee arthroplasty requires precise milling of the implant cavity, which can prolong implant life and thus, improve the surgical outcome. Robot knee arthroplasty can significantly increase precision of the milling for the implant cavity. However, robot systems often involve process of registration (matching coordinates of robot, patient, and the image data), which can be one of the major drawbacks. The purpose of this paper is to present a new registration method using a surface data extracted from a 3D laser scanner for registration in robotic arthroplasty. Registration for robotic arthroplasty requires the following steps: 3D reconstruction (3D model) of the distal femur using the bone counters extracted from computed tomography (CT) image sections; surface data extraction using a 3D laser scanner; and matching of the 3D model and the extracted surface data. Bone model mechanism was designed to estimate bone motion and available bone exposure. Surface data extracted using 3D laser scanner was matched with 3D model. ICP matching algorithm was employed to perform the spatial transformation between the 3D model and the surface data extracted using the 3D laser scanner. Four local regions (based on anatomical structure) of distal femur were tested to find RSR (Recommended Scanning Region). Issues regarding the application of 3D laser scanner to robotic knee arthroplasty (TKA) is presented and discussed.

关键词： Three dimensional displays Solid modeling Data models Laser modes Robots Surface emitting lasers Data mining

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Vision-based corridor path search of a mobile robot

Vision-based corridor path search of a mobile robot

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Yeoun-Jae Kim Joon-Yong Lee Majed S. Aldosari Mazin S. Altokhais Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea National Robotics & Intelligent Systems Center KACST Riyadh Saudi Arabia

In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination scheme uses Hough transform and horizontal line search. While the path search algorithm uses SIFT(Scale-Invariant Feature Transformation), 3D reconstruction and binary search tree algorithm. In the direction determination stage, the mobile robot detects lines in the image and detects horizontal lines to determine the normal to the wall direction. After the direction determination stage is completed, the robot determines the corridor path range through SIFT, RANSAC algorithm, and 3D reconstruction, and finally navigates through its pathway. The direction determination and navigation stage constitutes the binary search tree algorithm. After searching through all its pathway in the indoor environment, the robot returns to its original position with various corridor position information.

关键词： Mobile robots Robot vision systems Cameras Navigation Transforms

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Indoor Localization Using Particle Filter and Map-based NLOS Ranging Model

Indoor Localization Using Particle Filter and Map-based NLOS...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jongdae Jung Hyun Myung Robotics Program and Department of Civil and Environmental Engineering KAIST (Korea Advanced Institu the Department of Civil and Environmental Engineering KAIST (Korea Advanced Institute of Science and

User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are non-line-of-sight (NLOS) ranges which have striking difference to the line-of-sight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter-based localization algorithm which utilizes indoor geometry from a given map to estimate the NLOS signal path and compensates for the range measurements. The algorithm is verified with experiments performed in real indoor environments.

关键词： Frequency measurement Particle measurements Atmospheric measurements Distance measurement Manganese Nonlinear optics Cascading style sheets

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Planar marker-based localization of a robotic fish in a public aquarium

Planar marker-based localization of a robotic fish in a publ...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghwa Lee Donghoon Kim Hyun Myung Department of Civil and Environmental Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea Korea Advanced Institute of Science and Technology Daejeon Daejeon KR

A robotic fish localization system in a public aquarium is presented in this paper. The system is built on the marker-based camera pose estimation method. A webcam, an ARM processor, and multiple planar markers are employed for real-time camera pose estimation. The camera is attached at the bottom of the head of the robotic fish. Since the camera and the fish body are connected rigidly, the pose estimation method gives the absolute 6 degree of freedom (DOF) location of the robotic fish. The experiments above ground and underwater validate the proposed localization system. Through the tests in a public aquarium with the integrated robotic fish system, the autonomous swimming was successfully demonstrated.

关键词： Cameras Robot vision systems Estimation Machine vision Transmission line matrix methods

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A Machine Learning Approach to Falling Detection and Avoidance for Biped Robots

A Machine Learning Approach to Falling Detection and Avoidan...

引用

SICE Annual Conference

作者： Jeong-Jung Kim Yeoun-Jae Kim Ju-Jang Lee Department of Electrical Engineering KAIST Robotics Program KAIST

ISBN: (纸本)9784907764388

A falling avoidance of biped robots is an important research topic to use the robot in a human life environment. In this paper, we propose a machine learning approach to falling detection and avoidacne for biped robots. Support Vector Machine (S VM) is used as the machine learning algorithm and it detects the falling state of the robot based on acceleration value of torso and center of pressure value of the robot. When the falling is detected, the reaction module produces gait for extending areas of supporting polygon of the robot. The main contribution of the paper is falling detection of the biped robot based on the sensor data and machine learning algorithm without explicit dynamic parameters of the robot and predefined threshold value.

关键词： Falling Avoidance Biped Robot Machine Learning

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3D video stabilization for humanoid eyes using vision and inertial sensors inspired by human VOR

3D video stabilization for humanoid eyes using vision and in...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ryu, Yeon Geol Roh, Hyun Chul Chung, Myung Jin Daejeon 305-701 Korea Republic of Robotics Program KAIST Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781424493173

This paper proposes a new 3D video stabilization for humanoid eyes using vision and inertial sensors. Most existing video stabilization methods based on 2D motion model work well where scenes are far from the camera or can be modeled as a plane. But these 2D video stabilizations may fail to stabilize unstable videos because a humanoid robot operates in the real 3D world. And so far 3D video stabilization approaches cannot be directly applied to humanoid robot eyes because they use an off-line optimization method. In order to solve above problems, we propose 3D video stabilization based on a spatially-varying warping technique that uses sparse reconstructed 3D data. And we integrate the proposed 3D video stabilization into a hardware stabilization device for humanoid eyes inspired by human VOR in order to compensate large and rapid unwanted motions. The experimental results showed that the proposed 3D video stabilization system can be a potential candidate for humanoid eyes. © 2010 IEEE.

关键词： Anthropomorphic robots

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Online support vector regression based actor-critic method

Online support vector regression based actor-critic method

引用

Annual Conference of Industrial Electronics Society

作者： Dong-Hyun Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

This paper proposes a new algorithm for actor-critic method using online support vector regression(SVR), which can do incremental learning and automatically track variation of environment with time-varying characteristics. It gives good generalization properties to value function approximation and helps the critic converge fast. In addition, sample vectors in data set of the online SVR are used as center positions of actor's basis functions. Actor updates policy parameters with those functions using policy gradient algorithm. Throughout simulations, the feasibility and usefulness of the proposed method is demonstrated by comparison with other methods.

关键词： Support vector machines Function approximation Learning Mathematical model Equations Approximation algorithms

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