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23rd Pacific Conference on computer Graphics and Applications, PG 2015

作者： Pan, Xiao Zhou, Yuanfeng Liu, Shuwei Zhang, Caiming School of Computer Science and Technology Shandong University China Center for Sectional and Imaging Anatomy Shandong University China Shandong Key Lab. of Digital Media Technology Shandong University of Finance and Economics China

ISBN: (纸本)9783905674965

A novel algorithm for generating superpixels of RGB-D images is presented in this paper. A regular triangular mesh is constructed by the depth and a local geometric features sensitive initialization method is proposed for initializing seeds by a density function. Over-segmentation of the vertices on mesh can be generated by minimizing a new energy function defined by weighted geodesic distance which can be used for measuring the similarity of vertices with color information. At last, superpixels are generated by re-mapping the mesh over-segmentation to 2D image. During energy optimizing, we will check the topology correctness of the superpixels and refine the topology of the superpixels. Experiments on a large RGB-D images database show that the superpixels generated by the new method can adhere to the object boundaries well and outperform the state-of-the-art methods. © The Eurographics Association 2015.

关键词： Superpixels

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In-hand manipulation using gravity and controlled slip

In-hand manipulation using gravity and controlled slip

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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Vina B., Francisco E. Karayiannidis, Yiannis Pauwels, Karl Smith, Christian Kragic, Danica Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Royal Institute of Technology KTH StockholmSE-100 44 Sweden Dept. of Signals and Systems Chalmers University of Technology GothenburgSE-412 96 Sweden

ISBN: (纸本)9781479999941

In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters. © 2015 IEEE.

关键词： Sliding mode control

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Extending a UGV teleoperation FLC interface with wireless network connectivity information

Extending a UGV teleoperation FLC interface with wireless ne...

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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sergio Caccamo Ramviyas Parasuraman Fredrik Båberg Petter Ögren Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

Teleoperated Unmanned Ground Vehicles (UGVs) are expected to play an important role in future search and rescue operations. In such tasks, two factors are crucial for a successful mission completion: operator situational awareness and robust network connectivity between operator and UGV. In this paper, we address both these factors by extending a new Free Look Control (FLC) operator interface with a graphical representation of the Radio Signal Strength (RSS) gradient at the UGV location. We also provide a new way of estimating this gradient using multiple receivers with directional antennas. The proposed approach allows the operator to stay focused on the video stream providing the crucial situational awareness, while controlling the UGV to complete the mission without moving into areas with dangerously low wireless connectivity. The approach is implemented on a KUKA youBot using commercial-off-the-shelf components. We provide experimental results showing how the proposed RSS gradient estimation method performs better than a difference approximation using omnidirectional antennas and verify that it is indeed useful for predicting the RSS development along a UGV trajectory. We also evaluate the proposed combined approach in terms of accuracy, precision, sensitivity and specificity.

关键词： Receivers Cameras Wireless communication Direction-of-arrival estimation Robot vision systems Antenna measurements

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Confidence-based weighted median filter for effective disparity map refinement

Confidence-based weighted median filter for effective dispar...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Se-Hoon Park Min-Gyu Park Kuk-Jin Yoon Computer Vision Lab. Gwangju Institute of Science and Technology (GIST) Gwangju South Korea

We exploit the advantages of confidence measures to improve the robustness and accuracy of the weighted median filter (WMF). The conventional WMF fails to find a correct solution as the proportion of unreliable disparity values increases. Moreover, correct disparity values can be easily affected by unreliable pixels. To alleviate this problem, we consider the reliability of pixels as an additional weighting strategy where the reliability is computed by conventional confidence measures. We experimentally verified the proposed method on the Middlebury dataset in terms of bad pixel rates with various filtering methods.

关键词： Histograms Reliability Image color analysis computer vision Weight measurement Pollution measurement Yttrium

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In-hand manipulation using gravity and controlled slip

In-hand manipulation using gravity and controlled slip

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： F. E. Vina B Y. Karayiannidis K. Pauwels C. Smith D. Kragic 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 Dept. of Signals and Systems Chalmers University of Technology Gothenburg Sweden The Computer Vision and Active Perception Lab. Royal Institute of Technology Stockholm Sweden

关键词： Friction Robot kinematics Grippers Torque Gravity

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Image resizing by piecewise quadratic polynomial with edge constraints

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Journal of Information and Computational Science 2015年第3期12卷 905-914页

作者： Zhang, Fan Zhang, Xin Li, Xuemei Zhang, Caiming School of Computer Science and Technology Shandong University Jinan China Shandong Key Lab. of Digital Media Technology Shandong University of Finance and Economics Jinan China

In the field of image resizing, general polynomial fitting surfaces which are based on the methods such as Lagrange, spline and least squared methods usually produce enlarged images with blurred edges. Our experiments showed, however, that when the edge information is used as a constraint to construct polynomial surfaces to resize the image, the enlarged image could preserve good edge characteristics and have better visual quality. A new method for constructing fitting patches to resize the image is presented. Associated with each pixel, a fitting patch is constructed using edge information as a constraint to make it have the shape suggested by the pixel and the adjacent pixels. The enlarged image pixels are computed by the combination of the points which are sampled from the fitting patches. The fitting patch has the quadratic polynomial precision. The new method has the advantages that it is easy to compute and produces the enlarged image with better visual quality and higher PSNR value. Comparison results of the new method with other methods are included. ©, 2015, Binary Information Press. All right reserved.

关键词： Pixels

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Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Cooperative control of a serial-to-parallel structure using ...

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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yuquan Wang Christian Smith Yiannis Karayiannidis Petter Ögren Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden Department of Signal and Systems Chalmers University of Technology Gothenburg Sweden

In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators, instead of using the two manipulators kinematics directly. With this VKC, we formulate a constraint based programming solution for the robot to respond to external disturbances during task execution. The proposed approach is experimentally verified both in a noise-free illustrative simulation and a real human robot co-manipulation task.

关键词： Kinematics Robot kinematics Mobile communication Manipulators Jacobian matrices Programming

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Ruling analysis and classification of torn documents 14

Ruling analysis and classification of torn documents

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2014 ACM Symposium on Document Engineering, DocEng 2014

作者： Diem, Markus Kleber, Florian Sablatnig, Robert Computer Vision Lab. Vienna University of Technology Vienna Austria

ISBN: (纸本)9781450329491

A ruling classification is presented in this paper. In contrast to state-of-the-art methods which focus on ruling line removal, ruling lines are analyzed for document clustering in the context of document snippet reassembling. First, a background patch is extracted from a snippet at a position which minimizes the inscribed content. A novel Fourier feature is then computed on the image patch. The classification into void, lined and checked is carried out using Support Vector Machines. Finally, an accurate line localization is performed by means of projection profiles and robust line fitting. The ruling classification achieves an F-score of 0.987 evaluated on a dataset comprising real world document snippets. In addition the line removal was evaluated on a synthetically generated dataset where an F-score of 0.931 is achieved. This dataset is made publicly availab.e so as to allow for benchmarking. © 2014 ACM.

关键词： Classification (of information)

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Playing with sound and gesture in digital audio games 21

Playing with sound and gesture in digital audio games

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21st International Workshop on Intelligent and Personalized Human-computer Interaction, ABIS 2015, Held at Humans and computers 2015 Conference

作者： Fizek, Sonia Woletz, Julie Beksa, Jaroslaw Gamification Lab. Centre for Digital Cultures Leuphana University Scharnhorststraße 1 Lüneburg21335 Germany Media Uselab. Centre for Digital Cultures Leuphana University Lüneburg Scharnhorststraße 1 Lüneburg21335 Germany School of Computer and Mathematical Sciences Auckland University of Technology Wakefield St 2-14 Auckland1010 New Zealand

ISBN: (纸本)9783110443332

This article introduces the genre of a digital audio game and discusses selected play interaction solutions implemented in the Audio Game Hub, a prototype designed and evaluated in the years 2014 and 2015 at the Gamification lab.at Leuphana University Lüneburg.1 The Audio Game Hub constitutes a set of familiar playful activities (aiming at a target, reflex-based reacting to sound signals, lab.rinth exploration) and casual games (e.g. Tetris, Memory) adapted to the digital medium and converted into the audio sphere, where the player is guided predominantly or solely by sound. The authors will discuss the design questions raised at early stages of the project, and confront them with the results of user experience testing performed on two groups of sighted and one group of visually impaired gamers. © 2015, Weisbecker, Burmester, Schmidt.

关键词： Audio acoustics

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Density map visualization for overlapping bicycle trajectories

International Journal of Control and Automation

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International Journal of Control and Automation 2014年第3期7卷 327-332页

作者： Lee, Dongwook Kim, Jinsul Hahn, Minsoo Digital Media Lab. Korea Advanced Institute of Science and Technology Daejeon Korea Republic of School of Electronics and Computer Engineering Chonnam National University Gwangju Korea Republic of

The trajectories of moving object include useful information on the traffic situation and user behavior. The visualization of vehicle trajectories aims to provide enhanced understanding of the given data. Recently, technological advances in the satellite tracking system and handheld device facilitated personal log tracking which shows different properties compared to the trajectories of motor-assisted vehicles. In this study, we propose a trajectory visualization method based on the density map which highlights the areas where the trajectories with different kinematic properties are intersecting each other. The proposed method divides trajectories into several groups according to the kinematic properties of the given trajectories and generates the density map for each group. Based on the density map, the intersection map which visualizes the area that the groups are intersecting was constructed. The intersection map was combined with the density map to show the influence of the intersected area. In order to evaluate proposed method, we collected the bicycle trajectories and visualized them. The results showed that our visualization method was able to provide some visual insights which is hard to be noted from previously proposed visualization methods. © 2014 SERSC.

关键词： Bicycles

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