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Factorization method for multiple perspective views via iterative depth estimation

systems and Computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Development of 3-DOF finger module for micro manipulation

Development of 3-DOF finger module for micro manipulation

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Y. Ohya T. Arai Y. Mae K. Inoue T. Tanikawa Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A compact and economical 3-DOF finger module for micro manipulation is developed; it is designed for a two-finger micro manipulator which can manipulate micrometer-size objects dexterously like chopsticks. A 3-DOF parallel mechanism for this finger is proposed, and its inverse kinematics between the end effector position and the actuator displacements is formulated. The design parameters are determined so that its workspace volume may be as large as possible. A prototype using three piezo-electric actuators and two types of flexure joints, which are proposed for realizing a compact finger, is developed. The Jacobian matrix used for calculating the actuator displacements corresponding to the given end effector position is obtained by experiments. The repeatability and absolute positioning accuracy-about 2.0 /spl mu/m-of this prototype are evaluated.

关键词： Fingers Actuators Prototypes End effectors Glass Hydrogen Humans Design engineering Humanoid robots Mechanical engineering

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An algorithm for the kinematics of dexterous manipulation

An algorithm for the kinematics of dexterous manipulation

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IEEE International Conference on systems, Man and Cybernetics

作者： Jianfeng Li Yuru Zhang Qixian Zhang W.A. Gruver Robotics Institute Beijing Aeronautics and Astronautics University Beijing China School of Engineering Science Intelligent Robotics and Manufacturing Systems Laboratory Simon Fraser University Burnaby BC Canada

In order for a multi-fingered hand to dexterously manipulate an object, the joint motions must be determined from the desired object motions. In this paper, we use orthogonal decompositions of the spaces of object velocities and joint velocities to develop an algorithm for formulating differential relationships between the motions of the object and joints. The relationships of all possible object velocities and joint velocities satisfying the contact constraints are expressed. The relationships from mobility analysis are also obtained. The method is applicable to all manipulation systems and contact models. Three examples are presented to illustrate the effectiveness of the algorithm.

关键词： Kinematics Fingers Jacobian matrices Intelligent robots Matrix decomposition Orbital robotics Manufacturing systems Motion control Grasping Equations

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Progress on the deictically controlled wheelchair

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Lecture Notes in Computer science

作者： Crisman, Jill D. Cleary, Michael E. Robotics and Vision Systems Laboratory Dept. of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States College of Computer Science Northeastern University Boston MA 02115 United States

ISBN: (纸本)9783540647904

We aim to develop a robot which can be commanded simply and accurately, especially by users with reduced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared between the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sensors have been developed. These and other advances are discussed, as well as planned work. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Robots

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Fuzzy-neural tuned genetic algorithm applied to large-space constraint satisfaction

Fuzzy-neural tuned genetic algorithm applied to large-space ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Tiehua Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The paper treats a fuzzy-neural tuned genetic algorithm for solving a constraint satisfaction problem for an industrial application. It describes the design of a reflecting lamp composed of five consecutive straight mirror segments that satisfy both illumination efficiency and uniformity properties. An analytically established neural network dynamically controls the genetic algorithm mutation rate and the convergence criteria. The neural network implements a six-rule fuzzy system that gains its knowledge from a human operator and works in a similar way to monitor the convergence process. Using numerical experiments the lamp configurations are determined. The proposed method can also be applied to other optimization design tasks.

关键词： Genetic algorithms Lamps Neural networks Convergence Electrical equipment industry Mirrors Lighting Algorithm design and analysis Genetic mutations Fuzzy systems

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Fault-tolerant control of redundant robots by dual-optimization

Fault-tolerant control of redundant robots by dual-optimizat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Luya Li W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

There is a need for robots that are more flexible and reliable than the fixed configuration models currently available. Redundant robots provide an alternative to satisfy this requirement because redundancy can be used to improve the kinematic performance and compensate for joint failures. Due to the uncertainty of potential failures and large accumulated path errors, the instantaneous joint torques may increase and exceed actuator limits during the system recovery process. We propose to alleviate this difficulty by the use of optimal redundancy control, an approach that simultaneously takes into account both kinematics and dynamics. To realize dual-optimization control, a dynamically redundant mechanism with local degrees of freedom is introduced, and its use for redundancy control is investigated. Simulation results demonstrate the proposed method.

关键词： Fault tolerance Robot control Orbital robotics Fault tolerant systems Robot kinematics Redundancy Intelligent robots Optimal control Service robots Actuators

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Dynamic fuzzy control and system stability for the Acrobot

Dynamic fuzzy control and system stability for the Acrobot

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： M.H. Smith T. Zhang W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Intelligent Robotics and Manufacturing Systems Laboratory Manufacturing Systems Laboratory Simon Fraser University Burnaby Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. Previously, a technique using meta-rules was proposed to compensate for external disturbances when using a dynamic fuzzy controller. In this paper, stability of the meta-rule system is analyzed from a global asymptotic stability viewpoint based on fuzzy characteristic matrices. These matrices are generated from the first phase of a three phase learning process involving the combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques with the purpose of developing a better performing fuzzy controller.

关键词： Fuzzy control Stability Fuzzy systems Automatic control Fuzzy reasoning Robot kinematics Control systems Leg PD control Genetic algorithms

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Generalizing over aspect and location for rooftop detection

Generalizing over aspect and location for rooftop detection

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IEEE Workshop on Applications of Computer Vision (WACV)

作者： M.A. Maloof P. Langley T.O. Binford R. Nevatia Department of Computer Science George town University Washington D.C. DC USA Institute for the Study of Learning and Expertise Palo Alto CA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.

关键词： Machine vision Buildings Machine learning Computer science Intelligent robots Learning systems Image analysis Nearest neighbor searches Robustness Head

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