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Mobile robot localization under varying illumination

Mobile robot localization under varying illumination

引用

16th International Conference on pattern recognition, ICPR 2002

作者： Jogan, Matjaž Leonardis, Aleš Wildenauer, Horst Bischof, Horst Faculty of Computer and Information Science University of Ljubljana Tržaška 25 Ljubljana1001 Slovenia Pattern Recognition and Image Processing Group Institute for Computer Aided Automation Vienna University of Technology Favoritenstrasse 9/1832 ViennaA-1040 Austria Institute for Computer Graphics and Vision Graz University of Technology Inffeldgasse 16 2. OG GrazA-8010 Austria

ISBN: (纸本)0769516963

Methods for mobile robot localization that use eigen spaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose an approach which achieves a reliable localization under severe illumination conditions. The method uses gradient filtering of the eigen space. After testing the approach on images obtained by a mobile robot, we show that it outperforms the standard eigen space-based recognition method. © 2002 IEEE.

关键词： Mobile robots

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Transmit power allocation for an extended V-BLAST system

Transmit power allocation for an extended V-BLAST system

引用

IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Seung Hoon Nam Kwang Bok Lee Pattern Recognition and Image Processing Laboratory Samsung Advanced Institute of Science and Technology Suwon South Korea School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

ISBN: (纸本)0780375890

Vertical Bell Laboratories Layered Space-Time (V-BLAST) is a promising system that realizes the enormous capacity of multiple-input multiple-output (MIMO) communications. We present an extension of V-BLAST, and propose an effective transmit power allocation scheme for the extended system. The proposed transmit power allocation scheme minimizes the bit error rate (BER) averaged over all detection stages, and requires small feedback overhead from the receiver to the transmitter. Simulation results show that the extended V-BLAST system with the proposed transmit power allocation scheme provides a significant reduction in the BER compared to the conventional V-BLAST system. When the minimum mean square error (MMSE) nulling is adopted, the extended V-BLAST system is found to achieve the BER performance comparable to that of the maximum likelihood (ML) detection for the conventional V-BLAST architecture.

关键词： Bit error rate MIMO Feedback Transmitters Maximum likelihood detection Transmitting antennas Space technology computer science Mean square error methods Information theory

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Mobile robot localization under varying illumination

Mobile robot localization under varying illumination

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International Conference on pattern recognition

作者： M. Jogan A. Leonardis H. Wildenauer H. Bischof Faculty of Computer and Information Science University of Ljubljana Ljubljana Slovenia Pattern Recognition and Image Processing Group Institute for Computer Aided Automation University of Technology Vienna Vienna Austria Institute for Computer Graphics and Vision Graz University of Technology Graz Austria

Methods for mobile robot localization that use eigenspaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose an approach which achieves a reliable localization under severe illumination conditions. The method uses gradient filtering of the eigenspace. After testing the approach on images obtained by a mobile robot, we show that it outperforms the standard eigenspace-based recognition method.

关键词： Mobile robots Lighting computer vision Filter bank image recognition Indoor environments pattern recognition image processing computer graphics Information science

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Text scanner with text detection technology on image sequences

Text scanner with text detection technology on image sequenc...

引用

International Conference on pattern recognition

作者： Keechul Jung Kwang In Kim T. Kurata M. Kourogi JungHyun Han Pattern Recognition and Image Processing Laboratory Michigan State University USA Artificial Intelligence Laboratory KAIST South Korea National Institute for Advanced Industrial Science and Technology Japan School of Electrical and Computer Engineering Sung Kyun Kwan University South Korea

ISBN: (纸本)076951695X

We propose a text scanner which detects wide text strings in a sequence of scene images. For scene text detection, we use a multiple-CAMShift algorithm on a text probability image produced by a multi-layer perceptron. To provide enhanced resolution of the extracted text images, we perform the text detection process after generating a mosaic image in a fast and robust image registration method.

关键词： image sequences Layout image registration Cameras Parameter estimation Videos Pixel image processing Robustness Optical character recognition software

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Texture defect detection using invariant textural features 23rd

引用

23rd German Association for pattern recognition Symposium, DAGM 2001

作者： Schael, Marc Institute for Pattern Recognition and Image Processing Computer Science Department Albert-Ludwigs-Universität Freiburg Germany

ISBN: (纸本)3540425969

In this paper we propose a novel method for the construction of invariant textural features for grey scale images. The textural features are based on an averaging over the 2D Euclidean transformation group with relational kernels. They are invariant against 2D Euclidean motion and strictly increasing grey scale transformations. Beside other fields of texture analysis applications we consider texture defect detection here. We provide a systematic method how to apply these grey scale features to this task. This will include the localization and classification of the defects. First experiments with real textile texture images taken from the TILDA database show promising results. They are presented in this paper. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Defects

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Efficient 3D vertex detection in range images acquired with a laser sensor 23rd

引用

23rd German Association for pattern recognition Symposium, DAGM 2001

作者： Katsoulas, Dimitrios Bergen, Lothar Institute for Pattern Recognition and Image Processing Computer Science Department Albert-Ludwigs-Universität Freiburg Germany

ISBN: (纸本)3540425969

In many branches of industry, piled box-like objects have to be recognized, grasped and transferred. Unfortunately, existing systems only deal with the most simple configurations (i.e. neatly placed boxes) effectively. It is known that the detection of 3D-vertices is a crucial step towards the solution of the problem, since they reveal essential information about the location of the boxes in space. In this paper we present a technique based on edge detection and robust line fitting, which efficiently detects 3D-vertices. Combining this technique with the advantages of a time of flight laser sensor for data acquisition, we obtain a fast system which can operate in adverse environments independently of lighting conditions. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Edge detection

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SIMBA – Search images by appearance

引用

23rd German Association for pattern recognition Symposium, DAGM 2001

作者： Siggelkow, Sven Schael, Marc Burkhardt, Hans Institute for Pattern Recognition and Image Processing Computer Science Department Albert-Ludwigs-Universität Freiburg Germany

ISBN: (纸本)3540425969

In this paper we present SIMBA, a content based image retrieval system performing queries based on image appearance. We consider absolute object positions irrelevant for image similarity here and therefore propose to use invariant features. Based on a general construction method (integration over the transformation group), we derive invariant feature histograms that catch different cues of image content: features that are strongly influenced by color and textural features that are robust to illumination changes. By a weighted combination of these features the user can adapt the similarity measure according to his needs, thus improving the retrieval results considerably. The feature extraction does not require any manual interaction, so that it might be used for fully automatic annotation in heavily fluctuating image databases. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Search engines

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Reconstruction of specular surfaces using polarization imaging

Reconstruction of specular surfaces using polarization imagi...

引用

Conference on computer Vision and pattern recognition (CVPR)

作者： S. Rahmann N. Canterakis Institute for Pattern Recognition and Image Processing Computer Science Department University of Freiburg Freiburg im Breisgau Germany

ISBN: (纸本)0769512720

Traditional intensity imaging does not offer a general approach for the perception of textureless and specular reflecting surfaces. Intensity based methods for shape reconstruction of specular surfaces rely on virtual (i.e. mirrored) features moving over the surface under viewer motion. We present a novel method based on polarization imaging for shape recovery of specular surfaces. This method overcomes the limitations of the intensity based approach because no virtual features are required. It recovers whole surface patches and not only single curves on the surface. The presented solution is general as it is independent of the illumination. The polarization image encodes the projection of the surface normals onto the image and therefore provides constraints on the surface geometry. Taking polarization images from multiple views produces enough constraints to infer the complete surface shape. The reconstruction problem is solved by an optimization scheme where the surface geometry is modelled by a set of hierarchical basis functions. The optimization algorithm proves to be well converging, accurate and noise resistant. The work is substantiated by experiments on synthetic and real data.

关键词： image reconstruction Surface reconstruction Polarization Shape Geometry Surface texture Lighting Solid modeling image converters Multi-stage noise shaping

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Illumination insensitive eigenspaces

Illumination insensitive eigenspaces

引用

International Conference on computer Vision (ICCV)

作者： H. Bischof H. Wildenauer A. Leonardis Pattern Recognition and Image Processing Group University of Technology Vienna Vienna Austria Faculty of Computer and Information Science University of Ljubljana Ljubljana Slovenia

ISBN: (纸本)0769511430

Variations in illumination can have a dramatic effect on the appearance of an object in an image. In this paper we propose how to deal with illumination variations in eigenspace methods. We demonstrate that the eigenimages obtained by a training set under a single illumination condition (ambient light) can be used for recognition of objects taken under different illumination conditions. The major idea is to incorporate a set of gradient based filter banks into the eigenspace recognition framework. This can be achieved since the eigenimage coefficients are invariant for linearly filtered images (input and eigenimages). To achieve further illumination insensitivity we devised a robust procedure for coefficient recovery. The proposed approach has been extensively evaluated on a set of 2160 images and the results were compared to other approaches.

关键词： Lighting Nonlinear filters Principal component analysis image coding Object recognition Filtering Filter bank image recognition Information science image sampling

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An efficient depalletizing system based on 2D range imagery

An efficient depalletizing system based on 2D range imagery

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： D.K. Katsoulas D.I. Kosmopoulos Institute for Pattern Recognition and Image Processing University of Freiburg Freiburg im Breisgau Germany Department of electrical engineering division of Computer Science National and Technical University of Athens Athens Greece

ISBN: (纸本)0780365763

We propose an efficient approach towards the solution of the de-palletizing problem, based on active vision. We describe a system comprising an industrial robot and a time of flight laser sensor, which performs the depalletizing task in real time, and independently of lighting conditions. In our case, the target objects are solid boxes of known identical dimensions, neatly layered but with arbitrary orientation within a layer, which are all placed on a platform. The layered structure of the target platform allows for 2D imagery. The system locates the position of the boxes by tracking one of the corners they expose to the laser source. The system locates the desired corners by applying the scan line approximation technique, adapted to fit the needs of our application, to the 2D input data. The advantages of our system over existing applications are its simplicity, robustness, speed and ease of installation.

关键词： Robustness Service robots Humans pattern recognition image processing computer science Robot sensing systems Sensor phenomena and characterization Solids Target tracking

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