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IEEE Sensors Conference

作者： Rustam Stolkin David Rees Mohammed Talha Ionut Florescu Intelligent Robotics Lab School of Computer Science University of Birmingham UK Department of Mathematical Sciences Stevens Institute of Technology USA

ISBN: (纸本)9781457717666

This paper presents a method for optimally combining pixel information from thermal imaging and visible spectrum colour cameras, for tracking an arbitrarily shaped deformable moving target. The tracking algorithm rapidly relearns its background models for each camera modality from scratch at every frame. This enables, firstly, automatic adjustment of the relative importance of thermal and visible information in decision making, and, secondly, a degree of "camouflage target" tracking by continuously re-weighting the importance of those parts of the target model that are most distinct from the present background at each frame. Furthermore, this very rapid background adaptation ensures robustness to rapid camera motion. The combination of thermal and visible information is applicable to any target, but particularly useful for people tracking. The method is also important in that it can be readily extended for fusion of data from arbitrarily many imaging modalities.

关键词： Target tracking Image color analysis Cameras Mathematical model Equations Histograms

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A multiple feature fusion model for image segmentation based on hierarchical visual pathway

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Advances in Information Sciences and Service Sciences 2012年第8期4卷 274-282页

作者： Hu, Dekun Li, Jianping Yang, Simon X. Gregori, Stefano School of Computer Science and Engineering University of Electronic Science and Technology of China China Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Canada

To segment an object from its background in an image for advanced vision processing, this paper presents a novel bio-inspired general framework for image segmentation in complex nature scenes, which is a hierarchical system that mimics the organization of layered early visual area in primate visual cortex. The proposed methodology consists of two typical stages: the first stage is a parallel modular structure including three segmenting operators based on color feature, form feature and texture feature, each of which solves the segmentation problem independently for the same input. Then, a fusion operation, multiple feature fusion segmentation (MFFS), integrates these three feature segmentations together through the backpropagation neuron network (BPNN) in the last stage, which simulates the operation of area following the lateral geniculate nucleus in primary visual cortex. The proposed approach is applied to several segmentation experiments of many single objects in clustering conditions, the result shows that the approach is capable of competing with state-of-the-art systems.

关键词： Neural networks

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Design of an RNS reverse converter for a new five-moduli special set 12

Design of an RNS reverse converter for a new five-moduli spe...

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22nd Great Lakes Symposium on VLSI, GLSVLSI'2012

作者： Patronik, Piotr Berezowski, Krzysztof Biernat, Janusz Piestrak, Stanislaw J. Shrivastava, Aviral Inst. of Computer Engineering Control and Robotics Wroclaw Univ. of Technology 50-372 Wroclaw Poland Université de Lorraine 54506 Vandoeuvre-lès-Nancy France CSE Dept Compiler Microarchitecture Lab Arizona State University Tempe AZ 85281 United States

ISBN: (纸本)9781450312448

In this paper, we present a new residue number system (RNS) {2n - 1, 2n, 2n + 1, 2n+1 + 1, 2n-1 + 1} of five well- balanced moduli that are co-prime for odd n. This new RNS complements the 5-moduli RNS system proposed before for even n {2n-1, 2n, 2n+1, 2n-1, -1}. With the new set, we also present a novel approach to designing multimoduli reverse converters that focuses strongly on moving a significant amount of computations off the critical path. The synthesis of the resulting design over the ST Microelectronics 65nm LP library demonstrates that the delay, area, and power characteristics improve the performance and power consumption of the existing complementary 5-moduli set. Copyright 2012 ACM.

关键词： Microelectronics

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

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2012 IEEE International Conference on Imaging Systems and Techniques, IST 2012

作者： Kostavelis, Ioannis Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sofias 12 GR-67100 Xanthi Greece Computer Vision and Active Perception Lab. Centre for Autonomous Systems Royal Institute of Technology - KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781457717741

In this paper a pattern classification and object recognition approach based on bio-inspired techniques is presented. It exploits the Hierarchical Temporal Memory (HTM) topology, which imitates human neocortex for recognition and categorization tasks. The HTM comprises a hierarchical tree structure that exploits enhanced spatiotemporal modules to memorize objects appearing in various orientations. In accordance with HTM's biological inspiration, human vision mechanisms can be used to preprocess the input images. Therefore, the input images undergo a saliency computation step, revealing the plausible information of the scene, where a human might fixate. The adoption of the saliency detection module releases the HTM network from memorizing redundant information and augments the classification accuracy. The efficiency of the proposed framework has been experimentally evaluated in the ETH-80 dataset, and the classification accuracy has been found to be greater than other HTM systems. © 2012 IEEE.

关键词： Object recognition

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Robots for humanity: User-centered design for assistive mobile manipulation

Robots for humanity: User-centered design for assistive mobi...

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25th IEEE/RSJ International Conference on robotics and Intelligent Systems, IROS 2012

作者： Chen, Tiffany L. Ciocarlie, Matei Cousins, Steve Grice, Phillip Hawkins, Kelsey Hsiao, Kaijen Kemp, Charles C. King, Chih-Hung Lazewatsky, Daniel A. Leeper, Adam Nguyen, Hai Paepcke, Andreas Pantofaru, Caroline Smart, William D. Takayama, Leila Healthcare Robotics Lab Georgia Institute of Technology Atlanta GA United States Media and Machines Laboratory Department of Computer Science and Engineering Washington University in St. Louis St. Louis MO United States Willow Garage Inc. Menlo Park CA United States

ISBN: (纸本)9781467317375

The Robots for Humanity project aims to enable people with severe motor impairments to interact with their own bodies and their environment through the use of an assistive mobile manipulator, thereby improving their quality of life. Assistive mobile manipulators (AMMs) are mobile robots that physically manipulate the world in order to provide assistance to people with disabilities. They present an exciting frontier for assistive technology, as they can operate away from the user, have a large dexterous workspace (due to their mobility), and not directly encumber their users. The cornerstone of this project is an ongoing, interactive design process with a quadriplegic user, Henry Evans, and his wife and primary caregiver, Jane Evans. Henry has been enabled, through the use of a PR2 robot, to scratch his own face, shave, fetch a towel from his kitchen, and hand out Halloween candy to trick-ortreating children at a local mall. © 2012 IEEE.

关键词： Manipulators

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An object recognition model with top-down prediction and context

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International Journal of Advancements in Computing technology 2012年第12期4卷 283-290页

作者： Hu, Dekun Li, Jianping Yang, Simon X. University of Electronic Science and Technology of China School of Computer Science and Engineering Chengdu 611731 China University of Guelph School of Engineering Advanced Robotics and Intelligent Systems Lab Guelph ON Canada

Based on the trickle-up and trickle-down process in primate visual pathway, an ideal model for object recognition is researched. Firstly, the information of the low spatial frequency are extracted and passed to high visual cortex, the bank of the objects in memory is activated by this input, so the prediction of the possible candidate objects is pulled out. Then, the information of high spatial frequency, which keeps the invariability and selectivity of an object, is gained through the trickle-up process. With the top-down prediction, the context and the detailed information from trickle-up pathway, the object is recognized by Bayes inference. The performance of the proposed model is proved by several experiments.

关键词： Object recognition

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Towards AER VITE: building spike gate signal

Towards AER VITE: building spike gate signal

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IEEE International Conference on Electronics, Circuits and Systems

作者： Fernando Perez-Pena Arturo Morgado-Estevez Carlos Rioja-Del-Rio Alejandro Linares-Barranco Angel Jimenez-Fernandez Juan Lopez-Coronado Jose Luis Munoz-Lozano Applied Robotics Lab High School of Engineering University of Cadiz Department of Computer Architecture and Technology ETSI Computer Science University of Seville Automatic and System Engineering Department University Polytechnics of Cartagena

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.

关键词： spike spikes spikes Road gates Hardware Test Information representation Processing information ANION EXCHANGE RESIN Proportional Integral Derivative Control Activation Pelvic Inflammatory Disease RAMP Ramps Multiplying circuits

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Supervised learning of hidden and non-hidden 0-order affordances and detection in real scenes

Supervised learning of hidden and non-hidden 0-order afforda...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Aitor Aldoma Federico Tombari Markus Vincze Vision4Robotics Group Automation and Control Institute University of Technology Vienna Austria Computer Vision Lab DEIS-ARCES University of Bologna Italy

The ability to perceive possible interactions with the environment is a key capability of task-guided robotic agents. An important subset of possible interactions depends solely on the objects of interest and their position and orientation in the scene. We call these object-based interactions 0-order affordances and divide them among non-hidden and hidden whether the current configuration of an object in the scene renders its affordance directly usable or not. Conversely to other works, we propose that detecting affordances that are not directly perceivable increase the usefulness of robotic agents with manipulation capabilities, so that by appropriate manipulation they can modify the object configuration until the seeked affordance becomes available. In this paper we show how 0-order affordances depending on the geometry of the objects and their pose can be learned using a supervised learning strategy on 3D mesh representations of the objects allowing the use of the whole object geometry. Moreover, we show how the learned affordances can be detected in real scenes obtained with a low-cost depth sensor like the Microsoft Kinect through object recognition and 6D0F pose estimation and present results for both learning on meshes and detection on real scenes to demonstrate the practical application of the presented approach.

关键词： Solid modeling Robots Training Design automation Histograms Object recognition Computational modeling

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Karola Pitsch Katrin S. Lohan Katharina Rohlfing Joe Saunders Chrystopher L. Nehaniv Britta Wrede Applied Informatics Group and the Research Institute for Cognition and Robotics Faculty of Technology Bielefeld University Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain & Cognitive Sciences Emergentist Semantics group at Bielefeld University Adaptive Systems Research Group School of Computer Science University of Hertfordshire

ISBN: (纸本)9781467346047

The paper investigates the effects of a robot's "on-line" feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes.

关键词： Coaching ENCOUNTERS Robot Feedback Human machine interaction REACTIVE cargo

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Pitsch, Karola Lohan, Katrin S. Rohlfing, Katharina Saunders, Joe Nehaniv, Chrystopher L. Wrede, Britta Faculty of Technology Bielefeld University Bielefeld 33501 Germany Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain and Cognitive Sciences 16163 Genova Italy Emergentist Semantics Group at Bielefeld University CITEC Bielefeld 33501 Germany Adaptive Systems Research Group School of Computer Science University of Hertfordshire Hatfield AL10 9AB United Kingdom

ISBN: (纸本)9781467346054

The paper investigates the effects of a robot's on-line feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes. © 2012 IEEE.

关键词： Human robot interaction

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