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检索条件"机构=Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering"

共 171 条记录，以下是101-110 订阅

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

引用

International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms intelligent systems

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Design and Control of a Four Steered Wheeled Mobile Robot

Design and Control of a Four Steered Wheeled Mobile Robot

引用

Annual Conference of Industrial Electronics Society

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud Department ofElectrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Universite de Sherbrooke Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Robot kinematics Prototypes intelligent robots Design engineering Rubber Strips Control systems

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Kinematical Analysis of a Four Steered Wheeled Mobile Robot

Kinematical Analysis of a Four Steered Wheeled Mobile Robot

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department ofElectrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg intelligent robots Prototypes Mobile computing Laboratories intelligent systems systems engineering and theory Solid modeling

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A combinational approach to the fusion, de-noising and enhancement of dual-energy x-ray luggage images

A combinational approach to the fusion, de-noising and enhan...

引用

2005 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Chen, Zhiyu Zheng, Yue Abidi, Besma R. Page, David L. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996 United States

ISBN: (纸本)0769526608

X-ray luggage inspection systems play an important role in ensuring air travelers' security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information;however, background noise often gets amplified during the fusion process. This paper applies a background-subtraction-based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrast-enhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection. © 2005 IEEE computer Society. All rights reserved.

关键词： Wavelet transforms

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

引用

5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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A Combinational Approach to the Fusion, De-noising and Enhancement of Dual-Energy X-Ray Luggage Images

A Combinational Approach to the Fusion, De-noising and Enhan...

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Zhiyu Chen Yue Zheng B.R. Abidi D.L. Page M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

X-ray luggage inspection systems play an important role in ensuring air travelers’ security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information; however, background noise often gets amplified during the fusion process. This paper applies a backgroundsubtraction- based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrastenhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection.

关键词： Noise reduction X-ray imaging Inspection Background noise Security Image processing Fuses Object detection X-ray detection X-ray detectors

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Recognizing interaction from a robot's perspective

Recognizing interaction from a robot's perspective

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T. Salter F. Michaud K. Dautenhahn D. Letourneau S. Caron LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield UK

For meaningful interaction between a robot and a human, an autonomous robot must recognize whether the experienced situation is created by people or by the environment. Using only proprioceptive data from a mobile robotic platform, we discover that it is possible to distinguish sensory data patterns involving interaction. These patterns are obtained whilst navigating varying environments, both human populated and unpopulated. The paper reports the initial set of trials using Roball, a spherical mobile robot. Also described is the experimental methodology currently followed to validate the hypothesis that child interaction can be perceived directly from navigation sensors onboard a robotic platform.

关键词： Robot sensing systems Mobile robots Human robot interaction Navigation intelligent robots Sensor phenomena and characterization Infrared sensors Educational institutions Plastics Mobile computing

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Fusion of visual and thermal signatures with eyeglass removal for robust face recognition

Fusion of visual and thermal signatures with eyeglass remova...

引用

2004 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Heo, Jingu Kong, Seong G. Abidi, Besma R. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions. © 2004 IEEE.

关键词： Face recognition

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

引用

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

关键词： Robustness Face recognition Face detection Lighting Optical imaging intelligent robots Infrared imaging Pattern recognition computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

引用

International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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