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Rotational legged locomotion

Rotational legged locomotion

引用

International Conference on Advanced robotics (ICAR)

作者： D.M. Lyons K. Pamnany Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY USA

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report on experiments conducted to characterize stepping

关键词： Legged locomotion Leg Mobile robots Wheels Vehicles Energy efficiency Prototypes Propulsion Weight control Robot control

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Rank-based multisensory fusion in multitarget video tracking

Rank-based multisensory fusion in multitarget video tracking

引用

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

作者： D.M. Lyons D.F. Hsu Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY USA

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in fusion produces a significantly better tracking result in crowded scenes. We also present a formalization of this fusion problem as a step in understanding why this effect occurs and how to build a tracking system that exploits it.

关键词： Target tracking Layout Voting computer vision Shape Merging Bayesian methods Robot sensing systems Robot vision systems Laboratories

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Locally adaptive support-weight approach for visual correspondence search

Locally adaptive support-weight approach for visual correspo...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Kuk-Jin Yoon In-So Kweon Robotics and Computer Vision Laboratory Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea

ISBN: (纸本)0769523722

In this paper, we present a new area-based method for visual correspondence search that focuses on the dissimilarity computation. Local and area-based matching methods generally measure the similarity (or dissimilarity) between the image pixels using local support windows. In this approach, an appropriate support window should be selected adaptively for each pixel to make the measure reliable and certain. Finding the optimal support window with an arbitrary shape and size is, however, very difficult and generally known as an NP-hard problem. For this reason, unlike the existing methods that try to find an optimal support window, we adjusted the support-weight of each pixel in a given support window. The adaptive support-weight of a pixel is computed based on the photometric and geometric relationship with the pixel under consideration. Dissimilarity is then computed using the raw matching costs and support-weights of both support windows, and the correspondence is finally selected by the WTA (winner-takes-all) method. The experimental results for the rectified real images show that the proposed method successfully produces piecewise smooth disparity maps while preserving sharp depth discontinuities accurately.

关键词： Shape Pixel Costs computer vision NP-hard problem Robot vision systems Laboratories computer science Area measurement Photometry

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Formal transition in agent organizations

Formal transition in agent organizations

引用

International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： E. Matson S. DeLoach Department of Computer Science and Engineering Wright State University Dayton OH USA Department of Electrical and Computer Engineering and Computer Science University of Cincinnati Cincinnati OH USA Multiagent and Cooperative Robotics Laboratory Department of Computing and Information Science College of Engineering Kansas State University Manhattan KS USA

Multiagent systems (MAS) can be employed to solve a great many problems. When combined with an organization model, a MAS becomes an even more useful structure capable of taking on problems that require self-organization, adaptation, and recovery. To capture and understand the concept of organization and reorganization, we must define organization transition. Specifically, we describe a formal process of organization transition.

关键词： Humans Companies computer science Robots information science Educational institutions Software agents

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Autonomous organization-based adaptive information systems

Autonomous organization-based adaptive information systems

引用

International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： E. Matson S. DeLoach Department of Computer Science and Engineering Wright State University Dayton OH USA Department of Electrical and Computer Engineering and Computer Science University of Cincinnati Cincinnati OH USA Multi-agent and Cooperative Robotics Laboratory Department of Computing and Information Kansas State University Manhattan KS USA

On the field of battle, a continual flow of information is necessary to achieve information superiority. The required information potentially originates from numerous information producers. Unfortunately, due to dynamic and often dangerous conditions, these information producers can be incapacitated or destroyed. To be successful, a battlefield information system must provide a continuous flow of information and thus adaptability and fault tolerance are key features. In this paper, we show how we build adaptive and fault tolerance information systems using an organizational model. We introduce our organizational model and provide details pertaining to its use in the development of a battlefield information system.

关键词： Adaptive systems information systems computer science Fault tolerant systems USA Councils Robot kinematics Military computing Complex networks Protocols Runtime

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Annotation-based rescue assistance system for teleoperated unmanned helicopter with wearable augmented reality environment

Annotation-based rescue assistance system for teleoperated u...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： M. Koeda Y. Matsumoto T. Ogasawara Collage of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Shiga Japan Graduate School of Information Science Robotics Laboratory Nara Institute of Science and Technology Ikoma Nara Japan

We introduce an annotation-based rescue assistance system for a teleoperated unmanned helicopter with an wearable augmented reality (AR) environment. In this system, an operator controls the helicopter remotely while watching an annotated view from the helicopter through a head mounted display (HMD) with a laptop PC in a backpack. Virtual buildings and textual annotations assist the rescue operation indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and sent to the operator's PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility.

关键词： Helicopters Augmented reality Control systems Gyroscopes Wireless LAN Global Positioning System Cameras information science Intelligent robots Robot kinematics

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems computer vision Laboratories Image sequences Scalability

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Image-based Rendering of the Anisotropic BRDF of Woven Fabrics 7

Image-based Rendering of the Anisotropic BRDF of Woven Fabri...

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7th Eurographics Multimedia Workshop, MM 2004

作者： Takeda, Yuki Viet, Huynh Quang Huy Tanaka, Hiromi T. Computer Vision Laboratory Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University 1-1-1 Noji-Higashi Shiga-kenKusatu-shi 525-8577 Japan

ISBN: (纸本)3905673177

The reflectance of fabric surface is commonly represented by a 4D bidirectional reflectance distribution function (BRDF). To generate the BRDF from measured data by a gonioreflectometer with 2 degrees of freedom of the light source and 2 degrees of freedom of the observing direction, it requires an enormous amount of measurements. In this paper, we propose an efficient image-based method for rendering the anisotropic BRDF of woven fabrics based on the micro facet surface geometry determined by the cross-sectional shape of fibers, twist of yarns, and type of weave. At first, we examine the relationship between the reflectance properties and the micro facet surface geometry of a type of woven fabric such as silk-like synthesized fabric. Next, we develop an image-based method for generating the BRDF of woven fabrics from measurement of the reflectances caused by the incident light only in the direction perpendicular to the fabric's surface. The simulation results on arbitrarily colored dresses show the performance of the proposed approach. Â© The Eurographics Association 2004.

关键词： Degrees of freedom (mechanics)

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Designing a robot cognitive architecture with concurrency and active perception

Designing a robot cognitive architecture with concurrency an...

引用

2004 AAAI Fall Symposium

作者： Benjamin, D. Paul Lonsdale, Deryle Lyons, Damian Pace University Robotics Laboratory Computer Science Department 1 Pace Plaza New York NY 10038 Brigham Young University Department of Linguistics and English Language Provo UT 84602 Department of Computer and Information Science Fordham University Robotics Laboratory Fordham University 441 E. Fordham Rd. Bronx NY 10458

We are implementing ADAPT, a cognitive architecture for a Pioneer mobile robot, to give the robot the full range of cognitive abilities including perception, use of natural language, learning and the ability to solve complex problems. Our perspective is that an architecture based on a unified theory of robot cognition has the best chance of attaining human-level performance. Existing work in cognitive modeling has accomplished much in the construction of such unified cognitive architectures in areas other than robotics;however, there are major respects in which these architectures are inadequate for robot cognition. This paper examines two major inadequacies of current cognitive architectures for robotics: the absence of support for true concurrency and for active perception. ADAPT models the world as a network of concurrent processes, and models perception as problem solving. ADAPT integrates three theories: the theory of cognition embodied in the Soar system, the RS formal model of concurrent sensorimotor activity and an algebraic theory of decomposition and reformulation. These three component theories have been implemented and tested separately and their integration is currently underway. This paper describes these components and the plan for their integration.

关键词： Cognitive systems

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Human perception based color image quantization

Human perception based color image quantization

引用

International Conference on Pattern Recognition

作者： Kuk-Jin Yoon In-So Kweon Department of Electric Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea

ISBN: (纸本)0769521282

We present a new algorithm for color image quantization based on human color perception properties. We construct two kinds of map by analyzing the spatial color distributions to take account of the human visual system: homogeneity map (H-map) and distinctiveness map (D-map). Then, we assign weight value to all color vectors by combining these maps to consider two factors at the same time. To extract representative colors, we define a new cost function and use the LKMA (local k-means algorithm) with weighted color vectors. In this stage, we utilize an incremental splitting scheme with a penalty term to determine optimal number of clusters adaptively. The experimental results show that the proposed algorithm reproduces an image preserving significant local features while removing unimportant details of an original image from the viewpoint of human.

关键词： Humans Quantization Clustering algorithms Image color analysis Visual system Cost function Image segmentation Distortion measurement Robot vision systems computer vision

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