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Canonical frames for planar object recognition 2nd

2nd European Conference on computer Vision, ECCV 1992

作者： Rothwell, Charles A. Zisserman, Andrew Forsyth, David A. Mundy, Joseph L. Robotics Research Group Department of Engineering Science Oxford University United Kingdom Department of Computer Science University of Iowa IA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States

ISBN: (纸本)9783540554264

We present a canonical frame construction for determining projectively invariant indexing functions for non-algebraic smooth plane curves. These invariants are semi-local rather than global, which promotes tolerance to occlusion. Two applications are demonstrated. Firstly, we report preliminary work on building a model based recognition system for planar objects. We demonstrate that the invariant measures, derived from the canonical frame, provide sufficient discrimination between objects to be useful for recognition. Recognition is of partially occluded objects in cluttered scenes. Secondly, jigsaw puzzles are assembled and rendered from a single strongly perspective view of the separate pieces. Both applications require no camera calibration or pose information, and models are generated and verified directly from images. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Object recognition

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Recognising rotationally symmetric surfaces from their outlines 2nd

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2nd European Conference on computer Vision, ECCV 1992

作者： Forsyth, David A. Mundy, Joseph L. Zisserman, Andrew Rothwell, Charles A. Department of Computer Science University of Iowa Iowa CityIA United States The General Electric Corporate Research and Development Laboratory SchenectadyNY United States Robotics Research Group Department of Engineering Science Oxford University United Kingdom

ISBN: (纸本)9783540554264

Recognising a curved surface from its outline in a single view is a major open problem in computer vision. This paper shows techniques for recognising a significant class of surfaces from a single perspective view. The approach uses geometrical facts about bitangencies, creases, and inflections to compute descriptions of the surface’s shape from its image outline. These descriptions are unaffected by the viewpoint or the camera parameters. We show, using images of real scenes, that these representations identify surfaces from their outline alone. This leads to fast and effective recognition of curved surfaces. The techniques we describe work for surfaces that have a rotational symmetry, or are projectively equivalent to a surface with a rotational symmetry, and can be extended to an even larger class of surfaces. All the results in this paper are for the case of full perspective. The results additionally yield techniques for identifying the line in the image plane corresponding to the axis of a rotationally symmetric surface, and for telling whether a surface is rotationally symmetric or not from its outline alone. © Springer-Verlag Berlin Heidelberg 1992.

关键词： computer vision

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3-D substructure matching in protein molecules 3rd

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3rd Annual Symposium on Combinatorial Pattern Matching, 1992

作者： Fischer, Daniel Nussinov, Ruth Wolfson, Haim J. Computer Science Department Raymond and Beverly Suckler Faculty of Exact Sciences Tel Aviv University Israel Suckler Inst. of Molecular Medicine Faculty of Medicine Tel Aviv University Israel Lab of Math. Biology PRI - Dynacor NCI-FCRF NIH United States Robotics Research Laboratory Courant Inst. of Math. Sc. New York University United States

ISBN: (纸本)9783540560241

Pattern recognition in proteins has become of central importance in Molecular Biology. Proteins are macromolecules composed of an ordered sequence of amino acids, referred to also as residues. The sequence of residues in a protein is called its primary structure. The 3-D conformation of a protein is referred to as its tertiary structure. During the last decades thousands of protein sequences have been decoded. More recently the 3-D conformation of several hundreds of proteins have been resolved using X-ray crystallographic techniques. Todate, most work on 3-D structural protein comparison has been limited to the linear matching of the 3-D conformations of contiguous segments (allowing insertions and deletions) of the amino acid chains. Several techniques originally developed for string matching have been modified to perform 3-D structural comparison based on the sequential order of the structures. We present an application of pattern recognition techniques (in particular matching algorithms) to structural comparison of proteins. The problem we are faced with is to devise efficient techniques for routine scanning of structural databases, searching for recurrences of inexact structural motifs not necessarily composed of contiguous segments of the amino acid chain. The method uses the Geometric Hashing technique which was originally developed for model-based object recognition problems in computer Vision. Given the three dimensional coordinate data of the structures to be compared, our method automatically identifies every region of structural similarity between the structures without prior knowledge of an initial alignment. Typical structure comparison problems are examined and the results of the new method are compared with the published results from previous methods. Examples of the application of the method to identify and search for non-linear 3-D motifs are included. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Proteins

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3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

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CONF ON GEOMETRIC METHODS IN computer VISION

作者： GROSSO, E SANDINI, G TISTARELLI, M University of Genoa Department of Communication Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA - Lab) Via Opera Pia hA Genova 16145 Italy

ISBN: (纸本)0819406988

The paper presents some theoretical results useful in 3D reconstruction from disparity stereo maps. A practical implementation of the theory confirms the possibility of computing a fast spatial transposition of the observed scene without passing through an explicit computation of depth maps. Moreover, as the stereo pair moves controlling the vergence and maintaining the fixation point, it is possible to integrate spatial information and to refine gradually a simple volumetric model of the scene. A straight generalization of the approach suggests the introduction of the horopters theory, which is discussed in its weak and strong aspects. Some basic ideas related to the active vision paradigm are proposed and some experimental results on real data are presented. © 1991 SPIE. All rights reserved.

关键词： Stereo image processing

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NEW INVERSE KINEMATIC ALGORITHMS FOR REDUNDANT ROBOTS

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JOURNAL OF ROBOTIC systems 1991年第1期8卷 117-132页

作者： HSIA, TC GUO, ZY Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616

New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) as specified by certain objective functions. The algorithms are based on the extension of the existing "joint-space command generator" technique in which a null space vector is introduced which optimizes a specific objective function along the joint trajectories. In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed. The case for joint position, velocity, and acceleration (PVA) generation is also addressed. Application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.

关键词： Robots

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On force-tracking impedance control of robot manipulators

On force-tracking impedance control of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.A. Lasky T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davisburg CA USA

A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface.< >

关键词： Force control Robot control Control systems Robot kinematics Manipulator dynamics Surface impedance Friction Velocity control Automatic control Algorithm design and analysis

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Preliminary experiments of visuo-motor integration in pushing tasks

Preliminary experiments of visuo-motor integration in pushin...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： P. Franchi F. Gandolfo G. Casalino P. Morasso G. Sandini R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.< >

关键词： Robot sensing systems Trajectory Layout Artificial intelligence Strategic planning Orbital robotics Motion planning Feedback Shape Power system planning

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Image-based homing

Image-based homing

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Hong X. Tan B. Pinette R. Weiss E.M. Riseman Robotics Research Laboratory Courant Institute New York University New York NY USA Computer and Information Science Department University of Massachusetts Amherst Amherst MA USA

A system that allows a robot to acquire a model of its environment and to use this model to navigate is described. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring target locations. Features of the approach include an imaging system that acquires a compact, 360 degrees representation of the environment and an image-based, qualitative homing algorithm that allows the robot to navigate without explicitly inferring three-dimensional structure from the image. The results of an experiment in a typical indoor environment are described, and its argued that image-based navigation is a feasible alternative to approaches using three-dimensional models.< >

关键词： Navigation Mobile robots Contracts Indoor environments Cultural differences Marine vehicles Solid modeling Military computing Information science Data mining

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ADAPTIVE-CONTROL OF MANIPULATORS CONTAINING CLOSED KINEMATIC LOOPS

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1990年第1期6卷 10-19页

作者： WALKER, MW Robotics Research Laboratory Department of Electrical and Computer Science University of Michigan Ann Arbor MI USA

A novel algorithm for the adaptive control of a robot manipulator which may contain closed kinematic loops is described. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and, hence, obtains its computational efficiency through the recursive nature of the algorithm. Improved computational efficiency is achieved by eliminating the need to compute the constraint forces. Only inertial and gravitational forces are actually computed by the algorithm. Simulation results are presented.< >

关键词： Adaptive control Kinematics Manipulator dynamics Stability Acceleration Computational complexity Heuristic algorithms Parameter estimation Lyapunov method Accelerometers

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BUILDING EFFICIENT AND FLEXIBLE FEATURE-BASED INDEXES

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INFORMATION systems 1990年第6期15卷 653-662页

作者： JEA, KFJ LEE, YC Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States Current affilation: Cell Communications Research United States Current affilation: AT and T Bell Laboratories U.S.A.

If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding design semantics or functionalities is often embedded in the geometric description of design objects, and is therefore not directly available for indexing. Presented in this paper is an efficient and flexible indexing mechanism for retrieving design objects that possess similar design features as described by the user. The underlying database is composed of rotational objects represented by constructive solid geometry (CSG). Although domain-specific representation schemes and algorithms are involved, the main objective of this paper is to emphasize the importance of engineering indices and to illustrate the effort required to build as well as to use such indices.

关键词： ENGINEERING DATABASE MANAGEMENT ENGINEERING INDEXES FEATURE EXTRACTION CONSTRUCTIVE SOLID GEOMETRY MULTIPLE KEY ACCESS PATTERN MATCHING DESIGN RETRIEVAL

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