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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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Factorization method for multiple perspective views via iterative depth estimation

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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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Multi-Robot Path Planning by Predicting Structure in a Dynamic Environment

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IFAC Proceedings Volumes 2000年第26期33卷 555-560页

作者： C. Spence Olive Mahesh Saptharishi John M. Dolan Ashitey Trebi-Ollennu Pradeep K. Khosla Dept. of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Institute for Complex Engineered Systems Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 The Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Mail-Stop 82-105 Pasadena California 91109-8099

Path planning for multiple mobile robots is complicated by the presence of a dynamic environment, in which obstacles and other robots are moving. Centralized approaches are too computationally intensive for real-time response. Decoupled approaches which perform individual preplanning, conflict resolution, and reactive obstacle avoidance for each robot, can be globally inefficient. We propose a novel mission coordination architecture, CP AD (Checkpoint/Priority/Action Database), which performs path planning via checkpoint and dynamic priority assignment, using statistical estimates of the environment’s motion structure in order to make both preplanning and reactive behaviors more efficient. Simulation is used to validate and illustrate the approach

关键词： robot navigation path planning co-operation checkpoints estimation prediction uncertainty neural nets on-line learning

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2D motion analysis by fuzzy pattern comparator 8th

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8th International Conference on Computer Analysis of Images and Patterns, CAIP 1999

作者： Bonković, Mirjana Stipaničev, Darko Štula, Maja LaRIS-Laboratory for Robotics and Intelligent Systems Mechanical Engineering and Naval Architecture University of split R.Boskovica bb Split21000 Croatia

ISBN: (纸本)3540663665

The motion analysis plays an important role in the broad range of applications, such as visual feedback control, scene reconstruction and similar. In this paper the technique for 2D-motion analysis based on displacement vector determination is described. In our approach we have used the device called Fuzzy Pattern Comparator (FPC) and develop the fuzzy algorithm based on novel, cylindrical fuzLy sets of directions. Their introduction made the calculation of displacement vector direction and magnitude quite simple. The method was verfied experimentally and used in final positioning of the robot arm. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Comparators (optical)

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Vision-based end-effector alignment assistance for teleoperation

Vision-based end-effector alignment assistance for teleopera...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.E. Everett Y. Isoda R.V. Dubey C. Dumont Robotics and Electromechanical Systems Laboratory Mechanical Engineering University of Tennessee Knoxville TN USA Imaging Robotics and Systems Laboratory Electrical Engineering University of Tennessee Knoxville TN USA University of Burgundy Le Creusot France

The limitations in the accuracy of sensing and image processing technology have prohibited purely autonomous modes of task execution in complex environments, while manual operation can be tedious and require skilled operators. A recently developed method of combining human and machine control to provide assistance to the operator by variably mapping velocity commands using uncertain sensor data is briefly reviewed. The new concept is used with processed visual information from an end-effector camera to provide assistance in alignment of the end-effector with an object to be grasped. Commanded velocities parallel to the image plane are variably mapped depending on the slave position and orientation and camera image. An experiment using a cross-shaped target was conducted, and results demonstrate the increase in efficiency of task completion and reduction of operator fatigue and skill requirements.

关键词： Humans Automatic control Cameras Force feedback Robot sensing systems Laboratories Machine control Fatigue Control systems Force control

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PRECISION SENSING OF ARC LENGTH IN GTAW BASED ON ARC LIGHT SPECTRUM

PRECISION SENSING OF ARC LENGTH IN GTAW BASED ON ARC LIGHT S...

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Li, P.J. Zhang, Y.M. Welding Research And Development Laboratory Center For Robotics And Manufacturing Systems University Of Kentucky LexingtonKY40506-0108 United States Department Of Electrical Engineering University Of Kentucky LexingtonKY40506-0108 United States

ISBN: (纸本)9780791816462

This work aims at improving the measurement accuracy of arc length using the spectrum of arc light at a particular wavelength during gas tungsten arc welding with argon shield. To this end, effects of welding parameters on spectral distributions were studied. To verify the effects of base metal and arc length, the arc column was also sampled horizontally as layers for spectral analysis. Results showed that spectral lines of argon atoms are determined by arc length and independent of welding parameters other than the arc length. Based on these findings, a compact arc light sensor has been designed to measure the arc length with an adequate accuracy. A closed-loop arc length control system has been developed with the proposed sensor. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Spectrum analysis

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Virtual impedance based remote tele-collaboration with time delay

Virtual impedance based remote tele-collaboration with time ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Nak Young Chong T. Kotoku K. Ohba K. Komoriya N. Matsuhira K. Taniel Robotics Department Mechanical Engineering Laboratory Tsukuba Japan R & D Center Mechanical Systems Laboratory Toshiba Corporation Kawasaki Japan

ISBN: (纸本)0780358414

A collision-free coordinated control scheme is discussed for multi-operator-multi-robot (MOMR) teleoperation through a network with communication time delay. Collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with collision arising from the communication delay in the MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in the local predictor simulator. When a possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arms based on simulation models.

关键词： Impedance Delay effects Communication system control Arm Collaboration Surgery Collaborative work Robot kinematics Control systems Master-slave

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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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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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