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8th International Conference on Spoken Language Processing, ICSLP 2004

作者： Shahina, A. Yegnanarayana, B. Kesheorey, M.R. Speech and Vision Laboratory Department of Computer Science and Engg. Indian Institute of Technology Madras Chennai600 036 India Center for Artificial Intelligence and Robotics Bangalore560 001 India

Speaker recognition systems perform better when clean speech signals are used for the task. In the presence of high levels of background noise, speech recorded from a close speaking microphone will be degraded and hence the performance of the speaker recognition system. Use of a transducer held at the throat results in a signal that is clean even in a noisy environment. This paper discusses the prospect of using such signals for speaker recognition. A study of a text-independent speaker recognition system based on features extracted from speech simultaneously recorded using a throat microphone and a close-speaking microphone in clean and simulated noisy conditions is conducted. Autoassociative neural networks are used to model the speaker characteristics based on the vocal tract system and excitation source features represented by weighted linear prediction cepstral coefficients and linear prediction residual, respectively. The results of experimental studies show that the speech collected from the throat microphone can be used for tasks like speaker recognition, especially in noisy conditions.

关键词： Microphones

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Many-to-many feature matching using spherical coding of directed graphs 8

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8th European Conference on computer vision, ECCV 2004

作者： Fatili Demirci, M. Shokoufandeh, Ali Dickinson, Sven Keselman, Yakov Bretzner, Lars Department of Computer Science Drexel University PhiladelphiaPA19104 United States Department of Computer Science University of Toronto TorontoONM5S 3G4 Canada School of Computer Science Telecommunications and Information Systems DePaul University ChicagoIL60604 United States Computational Vision and Active Perception Laboratory Department Of Numerical Analysis and Computer Science KTH Stockholm Sweden

ISBN: (纸本)3540219846

Abstract. In recent work, we presented a framework for many-to-many matching of multi-scale feature hierarchies, in which features and their relations were captured in a vertex-labeled, edge-weighted directed graph. The algorithm was based on a metric-tree representation of labeled graphs and their metric embedding into normed vector spaces, using the embedding algorithm of Matousek [13]. However, the method was limited by the fact that two graphs to be matched were typically embedded into vector spaces with different dimensionality. Before the embeddings could be matched, a dimensionality reduction technique (PCA) was required, which was both costly and prone to error. In this paper, we introduce a more efficient embedding procedure based on a spherical coding of directed graphs. The advantage of this novel embedding technique is that it prescribes a single vector space into which both graphs are embedded. This reduces the problem of directed graph matching to the problem of geometric point matching, for which efficient many-to-many matching algorithms exist, such as the Earth Mover's Distance. We apply the approach to the problem of multi-scale, view-based object recognition, in which an image is decomposed into a set of blobs and ridges with automatic scale selection. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Directed graphs

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Cascaded filter approach to multi-objective control

Cascaded filter approach to multi-objective control

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IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Thibodeau S.W. Hart D.R. Karuppiah J.D. Sweeney O. Brock Laboratory for Perceptual Robotics Computer Science Department University of Massachusetts Amherst USA Computer Vision Laboratory University of Massachusetts Amherst USA

In this paper we propose a new approach for multi-objective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is motivated by other control methods that prevent destructive control interactions through null space projections. We apply this approach to a practical leader/follower task in which a mobile robot must address the conflicting objectives of moving to a goal position while avoiding obstacles and keeping a region of the workspace within the field of view of a fixed camera mounted on the platform. We experimentally verify our approach using the Segway Robotic Mobility Platform (RMP), a dynamically stable, differential drive mobile robot.

关键词： Filters Robot kinematics Null space Mobile robots Laboratories Robot vision systems Control systems Cameras Decision making Orbital robotics

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A vision-based haptic exploration

A vision-based haptic exploration

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2003 IEEE International Conference on robotics and Automation

作者： Tanaka, Hiromi T. Kushihama, Kiyotaka Ueda, Naoki Hirai, Shin-Ichi Computer Vision Laboratory Computer Science Dept. Ritsumeikan University Ritsumeikan Japan Robotics Department Ritsumeikan University Ritsumeikan Japan

Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surf ace feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties ax mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic *** is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, elational constraints estimation and elasticity, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.

关键词： robotics

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A vision-based haptic exploration

A vision-based haptic exploration

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IEEE International Conference on robotics and Automation (ICRA)

作者： H.T. Tanaka K. Kushihama N. Ueda S. Hirai Computer Vision Laboratory Computer Science Department Ritsumeikan University Japan Robotics Department Ritsumeikan University Japan

Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surface feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties as mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic vision,which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, relational constraints estimation and elasticity, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.

关键词： Haptic interfaces Robot vision systems Robot sensing systems Solid modeling Elasticity Friction Shape control robotics and automation Humans Machine vision

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Online footstep planning for humanoid robots

Online footstep planning for humanoid robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Kuffner S. Kagami K. Nishiwaki M. Inaba H. Inoue Department of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Tokyo Japan Japan Science and Technology Corporation Japan School of Information Science and Technology University of Tokyo Tokyo Japan

We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a forward dynamic programming approach is used to compute a footstep sequence to a specified goal location in the environment. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. If successful, the planner returns an optimal sequence of footstep locations according to the cost functions and plausible sets of footstep locations defined. We show results from an experimental implementation of the algorithm running on the H7 humanoid robot. Using a stereo vision system to sense obstacles in the immediate environment and identify a target goal location, the robot updates the current optimal footstep sequence to the goal from its present location.

关键词： Humanoid robots Navigation Cost function Strategic planning Design methodology Mobile robots Dynamic programming Stereo vision Robot sensing systems Robot vision systems

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Using intrinsic images for shadow handling

Using intrinsic images for shadow handling

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International Conference on Intelligent Transportation

作者： R.F.K. Martin O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Laboratory Department of Computer Science and Engineering University of Minnesota USA

The ability to detect shadows is a critical feature of any intelligent transportation system (ITS). The improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. As vision-based ITS applications are becoming more popular, it is important to minimize the effects of shadows. Here, we present a novel method for shadow handling in a sequence of images. Following recent work motivated by studies of the statistics of natural images, we show that this new method is a reliable detector of shadows and can be easily implemented in real-time.

关键词： Intelligent transportation systems Vehicle detection Artificial intelligence Intelligent robots Vehicles Layout Magnetic analysis computerized monitoring computer vision Image edge detection

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vision-based monitoring of intersections

Vision-based monitoring of intersections

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International Conference on Intelligent Transportation

作者： H. Vceraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence University of Minnesota Vision and Robotics Laboratory Department of Computer Science and Engineering Artificial Intelligence University of Minnesota USA

The goal of tills project Is to develop a passive vision-based sensing system. The system will be capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera looking at all intersection from an arbitrary position is used. However, for extended applications, multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and situations giving rise to collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the method of Stauffer et at. for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of the blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Monitoring Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Accidents Calibration Gaussian processes

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A New Algorithm for Generalized Optimal Discriminant Vectors

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Journal of computer science & Technology 2002年第3期17卷 324-330页

作者：吴小俊杨静宇王士同郭跃飞曹奇英 East China Shipbuilding Institute Zhenjiang 212003 P.R. ChinaSchool of Information Nanjing University of Science & Technology Nanjing 210094 P.R. ChinaRobotics Laboratory The Chinese Academy of Sciences Shengyang 110016 P.R. China School of Information Nanjing University of Science & Technology Nanjing 210094 P.R. China East China Shipbuilding Institute Zhenjiang 212003 P.R. ChinaSchool of Information Nanjing University of Science & Technology Nanjing 210094 P.R. China Department of Computer Science and Technology Fudan University Shanghai 200433 P.R. China East China Shipbuilding Institute Zhenjiang 212003 P.R. China

A study has been conducted on the algorithm of solving generalized optimal set of discriminant vectors in this paper. This paper proposes an analytical algorithm of solving generalized optimal set of discriminant vectors theoretically for the first time. A lot of computation time can be saved because all the generalized optimal sets of discriminant vectors can be obtained simultaneously with the proposed algorithm, while it needs no iterative operations. The proposed algorithm can yield a much higher recognition rate. Furthermore,the proposed algorithm overcomes the shortcomings of conventional human face recognition algorithms which were effective for small sample size problems only. These statements are supported by the numerical simulation experiments on facial database of ORL.

关键词： pattern recognition feature extraction discriminant analysis generalized optimal set of discriminant vectors

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A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim In-So Kweon Department of Electrical Engineering and Computer Science Robotics and Computer Vision Laboratory KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.

关键词： Robot vision systems Cameras Calibration Mobile robots Application software computer vision Laboratories computer science Layout Robot kinematics

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