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检索条件"机构=Lab. for Computer Vision and Media Technology"

共 278 条记录，以下是61-70 订阅

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Active exploration using Gaussian Random Fields and Gaussian Process Implicit Surfaces

Active exploration using Gaussian Random Fields and Gaussian...

引用

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sergio Caccamo Yasemin Bekiroglu Carl Henrik Ek Danica Kragic Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm SE

ISBN: (纸本)9781509037636

In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile measurements using Gaussian Random Field and Gaussian Process Implicit Surfaces. The system investigates incomplete point clouds in order to find a small set of regions of interest which are then physically explored with a robotic arm equipped with tactile sensors. We show experimental results obtained using a PrimeSense camera, a Kinova Jaco2 robotic arm and Optoforce sensors on different scenarios. We then demostrate how to use the online framework for object detection and terrain classification.

关键词： Surface treatment Gaussian processes Three-dimensional displays Robot sensing systems Shape Surface reconstruction

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Adaptive control for pivoting with visual and tactile feedback

Adaptive control for pivoting with visual and tactile feedba...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Francisco E. Viña B. Yiannis Karayiannidis Christian Smith Danica Kragic Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Royal Institute of Technology KTH Stockholm Sweden Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Chalmers University of Technology Sweden Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Royal Institute of Technology KTH Sweden

In this work we present an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot's hand. We perform pivoting by means of gravity, allowing the object to rotate between the fingers of a one degree of freedom gripper and controlling the gripping force to ensure that the object follows a reference trajectory and arrives at the desired angular position. We use a visual pose estimation system to track the pose of the object and force measurements from tactile sensors to control the gripping force. The adaptive controller employs an update law that accommodates for errors in the friction coefficient, which is one of the most common sources of uncertainty in manipulation. Our experiments confirm that the proposed adaptive controller successfully pivots a grasped object in the presence of uncertainty in the object's friction parameters.

关键词： Friction Force Grippers Robot kinematics Planning Robot sensing systems

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Empowering cities for sustainable wellbeing

Empowering cities for sustainable wellbeing

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2016 Workshop on Empowering Cities for Sustainable Wellbeing, ECSW-SP 2016

作者： Stibe, Agnis Chatterjee, Samir Schechtner, Katja Wunsch, Matthias Millonig, Alexandra Seer, Stefan Chin, Ryan C.C. Larson, Kent MIT Media Lab. CambridgeMA United States Claremont Graduate University ClaremontCA United States Austrian Institute of Technology Vienna Austria University of Applied Arts Vienna Austria Vienna University of Technology Human Computer Interaction Vienna Austria

Quality of life in cities can be improved through reshaping and advancing urban spaces with seamless persuasive and socially influencing strategies for empowering people to succeed in achieving better lifestyles. This vision aims at helping people to acquire healthy and resource-efficient everyday routines, thus leading to prosperous and sustainable societies. Urban engineers and technology developers are oftentimes unaware of how diversely their innovations will affect lives of many people. Therefore, this research is focused on investigating and designing ways how urban environments can be retrofitted and complemented with persuasive technology and socially influencing systems to facilitate societal changes at scale. Outcomes of this research are instrumental for various contexts, including health, mobility, education, energy and water conservation, safety, emergency management, ecology, and economy. Ultimately, more refined scientific knowledge on how to design empowering cities has to be generated and translated into applicable guidelines for practice to foster their emergence. © 2017, CEUR-WS. All rights reserved.

关键词： Sustainable development

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Drone-vs-Bird detection challenge at IEEE AVSS2017

Drone-vs-Bird detection challenge at IEEE AVSS2017

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Angelo Coluccia Marian Ghenescu Tomas Piatrik Geert De Cubber Arne Schumann Lars Sommer Johannes Klatte Tobias Schuchert Juergen Beyerer Mohammad Farhadi Ruhallah Amandi Cemal Aker Sinan Kalkan Muhammad Saqib Nabin Sharma Sultan Daud Khan Makkah Michael Blumenstein Department of Engineering University of Salento Leece Italy UTI Grup Romania School of Electronic Engineering and Computer Science Queen Mary University of London United Kingdom Department of Mechanics Royal Military Academy of Belgium Brussels Belgium Fraunhofcr IOSB Germany Vision and Fusion Lab Karlsruhe Institute of Technology KIT Germany ArkaInvent Tehran Iran KOVAN Research Lab. Middle East Technical University Dumlupinar Bulvari Ankara Turkey University of Technology Sydney Broadway Ultimo NSW Australia University of Technology Sydney Broadway Ultimo NSW 2007 Australia Makkah Technology Valley Kingdom of Saudi Arabia

Small drones are a rising threat due to their possible misuse for illegal activities, in particular smuggling and terrorism. The project SafeShore, funded by the European Commission under the Horizon 2020 program, has launched the “drone-vs-bird detection challenge” to address one of the many technical issues arising in this context. The goal is to detect a drone appearing at some point in a video where birds may be also present: the algorithm should raise an alarm and provide a position estimate only when a drone is present, while not issuing alarms on birds. This paper reports on the challenge proposal, evaluation, and results.

关键词： Drones Birds Measurement Surveillance Video sequences Lighting Convolution

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Bimanual folding assembly: Switched control and contact point estimation

Bimanual folding assembly: Switched control and contact poin...

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IEEE-RAS International Conference on Humanoid Robots

作者： Diogo Almeida Francisco E. Viña Yiannis Karayiannidis Computer Vision and Active Perception Lab. Royal Institute of Technology KTH Stockholm Sweden Dept. of Signals and Systems Chalmers University of Technology Gothenburg Sweden

ISBN: (纸本)9781509047192

Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.

关键词： Robot kinematics Estimation Force Robot sensing systems Switches

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Folding Assembly by Means of Dual-Arm Robotic Manipulation

Folding Assembly by Means of Dual-Arm Robotic Manipulation

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IEEE International Conference on Robotics and Automation

作者： Diogo Almeida Yiannis Karayiannidis Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Royal Institute of Technology KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781467380270

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.

关键词： Means Dual-Arm Robotic Manipulation system

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Synthesis of reactive control protocols for switch electrical power systems for commercial application with safety specifications

Synthesis of reactive control protocols for switch electrica...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Benson Christalin Michele Colledanchise Petter Ögren Richard M. Murray Department of Control and Dynamical Systems California Institute of Technology Pasadena CA USA Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

This paper presents a method for the reactive synthesis of fault-tolerant optimal control protocols for a finite deterministic discrete event system subject to safety specifications. A Deterministic Finite State Machine (DFSM) and Behavior Tree (BT) were used to model the system. The synthesis procedure involves formulating the policy problem as a shortest path dynamic programming problem. The procedure evaluates all possible states when applied to the DFSM, or over all possible actions when applied to the BT. The resulting strategy minimizes the number of actions performed to meet operational objectives without violating safety conditions. The effectiveness of the procedure on DFSMs and BTs is demonstrated through three examples of switched electrical power systems for commercial application and analyzed using run-time complexity analysis. The results demonstrated that for large order system BTs provided a tractable model to synthesize an optimal control policy.

关键词： Power systems Safety Protocols Computational modeling Aerospace electronics Switches Dynamic programming

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PCB recognition using local features for recycling purposes 10

PCB recognition using local features for recycling purposes

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10th International Conference on computer vision Theory and Applications, VISAPP 2015

作者： Pramerdorfer, Christopher Kampel, Martin Computer Vision Lab. Vienna University of Technology Favoritenstr. 9/183-2 Vienna Austria

ISBN: (纸本)9789897580918

We present a method for detecting and classifying Printed Circuit Boards (PCBs) in waste streams for recycling purposes. Our method employs local feature matching and geometric verification to achieve a high open-set recognition performance under practical conditions. In order to assess the suitability of different local features in this context, we perform a comprehensive evaluation of established (SIFT, SURF) and recent (ORB, BRISK, FREAK, AKAZE) keypoint detectors and descriptors in terms of established performance measures. The results show that SIFT and SURF are outperformed by recent alternatives, and that most descriptors benefit from color information in the form of opponent color space. The presented method achieves a recognition rate of up to 100% and is robust with respect to PCB damage, as verified using a comprehensive public dataset.

关键词： Printed circuit boards

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Notice of Removal: A secure watermarking technique without loss of robustness

Notice of Removal: A secure watermarking technique without l...

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IEEE International Conference on Image Processing

作者： Jian Cao Haodong Li Weiqi Luo Jiwu Huang Shenzhen Graduate School Harbin Institute of Technology Shenzhen China School of Data and Computer Science and Guangdong Key Lab. of Information Security and Technology Sun Yat-Sen University Guangzhou China College of Information Engineering and Shenzhen Key Laboratory of Media Security Shenzhen University Shenzhen China

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Notice of Removal: An improved spread transform dither modulation for robust and secure watermarking

Notice of Removal: An improved spread transform dither modul...

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IEEE International Conference on Image Processing

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