Two humanoid robots are used to play table tennis with each other. For each humanoid robot, three cameras and a computer are equipped to form a stereovision system and a monocular vision system. The stereovision syste...
详细信息
Two humanoid robots are used to play table tennis with each other. For each humanoid robot, three cameras and a computer are equipped to form a stereovision system and a monocular vision system. The stereovision system consisting of two smart cameras and a computer measures the 3-dimensional position of the table tennis ball. It adopts parallel processing mode in order to realize hundred frames level measurement per second. A high-speed digital camera and the computer compose the monocular vision system, which measures the pose of the robot relative to the table via a color mark attached on the robot. The two smart cameras in each stereovision system are synchronized via I/O signals. The vision systems for the two robots are synchronized by time verification. Experimental results verify the effectiveness of the designed vision system and the proposed methods.
Abstract Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constra...
Abstract Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method.
Abstract The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we...
详细信息
Abstract The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures.
Multiple-target tracking in complex scenes is one of the most complicated problems in computer vision. Handling the occlusion between objects is the key issue in multiple target tracking. This paper presents an occlus...
详细信息
Multiple-target tracking in complex scenes is one of the most complicated problems in computer vision. Handling the occlusion between objects is the key issue in multiple target tracking. This paper presents an occlusion segmentation-based method to track multiple people in complex situations which are captured by static monocular cameras. In the proposed method, we calculate the probabilistic histogram of each object's optical flow vector, then use this motion statistic information along with the color and appearance information to construct a new expression of pixel distance. Finally, a stepwise classification and K-means clustering method are taken advantages of to accomplish occlusion segmentation. Object tracking is handled by a particle filter-based tracking framework, and a probabilistic appearance model is used to find the best particle. Experiments are conducted using public challenging data set PETS 2009. Results show that our approach can improve the performance of the existing tracking approach and handle dynamic occlusions better.
It's an important need for a large chemical plant to roundly and deeply evaluate the design prototype of plant human machine interaction (HMI) using in the control room. To meet this need, we propose an evaluation...
详细信息
It's an important need for a large chemical plant to roundly and deeply evaluate the design prototype of plant human machine interaction (HMI) using in the control room. To meet this need, we propose an evaluation method based on the ACP (Artificial system, Computational experiment, and Parallel execution) theory. A plant operator agent is created in the method and it is composed of perception, cognition, and execution processors, short-term memory, and long-term memory. The operator agent is used as a virtual subject, and the HMI can be evaluated by behavior simulation, from the viewpoints of shortening fault detection and isolation (FDI) track and decreasing operator's physical and mental workloads. The proposed method shows that the ACP theory is useful for the HMI evaluation.
A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF is an effective statistical framework to model prior knowledge of natural image...
详细信息
A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF is an effective statistical framework to model prior knowledge of natural images which leads to excellent performance in some low-level vision problems. In our work, the framework is extended to image deblurring. To overcome some limitations of maximum a-posteriori (MAP) estimation, we adopt Bayesian minimum mean squared error (MMSE) estimation to perform deblurring. The high-order NLR-MRF prior can be easily integrated into this framework. Then, an efficient Gibbs sampling algorithm is employed to compute MMSE estimation. The proposed method frees the user from determining regularization parameter beforehand, which relies on unknown noise level. Our deblurring method shows superior or comparable results to the state-of-art deblurring methods.
With the fast development of the economy, the urban traffic demands increases rapidly, Bus rapid transit (BRT) system, a new type and high efficient bus operator system and a comprehensive mass transit system between ...
详细信息
With the fast development of the economy, the urban traffic demands increases rapidly, Bus rapid transit (BRT) system, a new type and high efficient bus operator system and a comprehensive mass transit system between the metro and regular bus systems, can alleviate traffic congestion, reduce resident traffic cost effectively, and improve transportation quality and efficiency, with its advantages becomes an effective way to improve urban traffic status. In this article, the definition, major elements, advantages, functions and development of BRT are provided, and a new real-time scheduling is given which is going to be applied to the Zhongshan Avenue BRT system in Guangzhou China.
This paper proposes a novel method to evaluate Traffic Signal control System(TSCS) based on Artificial Transportation systems(ATS). Using this method, we can generate travel demand based on individual's activities...
详细信息
This paper proposes a novel method to evaluate Traffic Signal control System(TSCS) based on Artificial Transportation systems(ATS). Using this method, we can generate travel demand based on individual's activities and construct artificial traffic scenarios using basic rules. While interacting with ATS, TSCS can be evaluated by observing and analyzing the traffic status that emerged. The cost of the evaluation is decreased as artificial traffic environment can be constructed in the laboratory to substitute real environment and the evaluation can be carried out before the installation on site. Furthermore, as reasonable travel demand can be generated based on individual's activities, the reliability of evaluation results can be guaranteed. Finally, the effectiveness of this method is verified by experiments.
This paper illustrates a compositional deformable model for detecting vehicle and recognizing vehicle-contours. To overcome the difficulties that vehicles in an image have various sizes, shapes, colors and poses, this...
详细信息
This paper illustrates a compositional deformable model for detecting vehicle and recognizing vehicle-contours. To overcome the difficulties that vehicles in an image have various sizes, shapes, colors and poses, this model has two main characteristics: first, the model is made up of constituent parts which shared by vehicles. The locality of parts give the model the ability to recognize vehicles with different types (e.g., although vehicles have various sizes and shapes, they are usually composed by roof, windscreen, windows, etc.). Second, the spatial relationships of these parts are represented by Markov Random Field (MRF). The model is deformable to adapt to vehicles of different shapes and poses because of the appropriately changing of combinations of these parts in the MRF. Experimental results with real world images show that this method is effective in vehicle detection and vehicle-contours recognition.
Road traffic load balancing can avoid network congestion and improve traffic efficiency. This paper proposes a method of dynamic route guidance based on Maximum Flow Theory to balance traffic load of road network. A m...
详细信息
Road traffic load balancing can avoid network congestion and improve traffic efficiency. This paper proposes a method of dynamic route guidance based on Maximum Flow Theory to balance traffic load of road network. A modified Ford-Fulkerson algorithm is used for searching the optimal route. In addition, the algorithm is implemented by using MapReduce primitives, which introduces Cloud Computing Platform for large-scale traffic network guidance. Computational experimental environment is built by integrating Artificial Transportation systems (ATS) and Hadoop. Results in ATS and performances on Hadoop show that the method proposed can improve the traffic situation effectively.
暂无评论