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共 171 条记录，以下是151-160 订阅

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Surface reconstruction based on descripions of cross-sectional contours

Surface reconstruction based on descripions of cross-section...

引用

Sensing and Reconstruction of Three-Dimensional Objects and Scenes 1990

作者： Kim, Yonghoon Luo, Ren C. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cross-sectional contours has been developed. Each cross-sectional contour is first partitioned into convex/concave segments based on the relative locations of points on the contour. Each segment of the contour is then described by a parametric cubic polynomial, and the boundary is recovered based on the description. A matching technique incorporating possible deformations between adjacent cross-sections is used to obtain the correspondence between adjacent cross-sectional contours. Once the correspondence is established, the surface between correspondent segments of adjacent crosssectional contours is reconstructed by a traditional triangulation technique. As the reconstruction is based on the shape of the cross-sections, the reconstructed surfaces are more close to that of the original object. © 1990 SPIE. All rights reserved.

关键词： Surface reconstruction

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intelligent motion control system for autonomous vehicles operating in a factory floor

Intelligent motion control system for autonomous vehicles op...

引用

1990 IEEE International Workshop on intelligent Motion Control, IMC 1990

作者： Luo, Ren C. Pan, T.J. Aras, C.M. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University University RaleighNC27695 United States

To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network which can minimize the congestion problem. Given a path network, the collision problem can be eliminated by velocity planning for vehicles. To achieve this, we first represent each vehicle as an intersection of time varying half-planes. Then, we use traversability vectors method to predict vehicle collisions along their paths. Once a collision is predicted, time constraints on lower-priority vehicles are registered on a constraint map which shows time instances when the path is obstructed. Velocity planning is then accomplished ty a search on the map. To solve the congestion problem, we must reduce the average waiting time of vehicles. We use a queueing network model to evaluate the average waiting time for different path network configurations. As a result. the network that yields the best performance is selected. © 1991 IEEE.

关键词： Autonomous vehicles

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

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1990 IEEE International Workshop on intelligent Robots and systems, IROS 1990

作者： Luo, Ren C. Scherp, Ralph S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. In this paper we use a triangulation type laser range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the. possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Laser mirrors

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A tutorial on multisensor integration and fusion

A tutorial on multisensor integration and fusion

引用

Annual Conference of Industrial Electronics Society

作者： R.C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >

关键词： Tutorial Sensor systems intelligent sensors intelligent robots intelligent systems Sensor fusion Machine intelligence Control systems Aircraft navigation Laboratories

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intelligent Motion Control System for Autonomous Vehicles Operating in a Factory Floor

Intelligent Motion Control System for Autonomous Vehicles Op...

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Proceedings of the IEEE International Workshop on intelligent Motion Control

作者： Ren C. Luo T.-J. Pan C.M. Aras Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

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EEE International Workshop on intelligent Robots and systems, Towards a New Frontier of Applications

作者： R.C. Luo R.S. Scherp Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >

关键词： Object recognition intelligent sensors Sensor phenomena and characterization Robot sensing systems intelligent robots Robot vision systems Cameras Mobile robots Laser modes Data mining

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Motion planning for mobile robots in a dynamic environment with moving obstacles

Motion planning for mobile robots in a dynamic environment w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.-J. Pan R.C. Luo Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.< >

关键词： Motion planning Mobile robots Robot kinematics Orbital robotics Robot motion Computational geometry Time factors intelligent robots intelligent systems Shape

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Combined vision/ultrasonics for multi-dimensional robotic tracking

Combined vision/ultrasonics for multi-dimensional robotic tr...

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Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)9780819400383

An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achieved through the development of techniques to track in multiple dimensions for both the static and dynamic cases. These methods are realized via the fusion of the best attributes of visual and acoustic sensing into an effective configuration that is ideal for real time tracking purposes. The kinematic information for a moving object is extracted via end effector mounted vision and ultrasonic sensors. A hybrid position/force servo-controlled gripper developed at NCSU has been used for the system implementation. One parallel actuation gripper finger houses a fiber optics based Eye-in-Hand vision sensor, while the other accommodates an ultrasonic range sensor. The primary intent of this work is to develop approaches for performing the tasks of: generalized visual/ultrasonic tracking of known rectangular entities;3-D tracking of arbitrary pseudo-planar objects that can change orientation about the optical axis;and a real time paradigm for the tracking of motion in 3-D with variable orientation about the optical axis. This discussion includes both a description of the underlying principles and the initial experimental results.

关键词： Grippers

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Strategies for automated placement of a robot hand-held mobile 3D range sensor

Strategies for automated placement of a robot hand-held mobi...

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Annual Conference of Industrial Electronics Society

作者： R.C. Luo R. Scherp Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are well understood and that objects expected in the scene are known and modeled. Then, given a set of constraints, a set of actions is specified directing a robot arm to position itself in such a manner that an attached 3-D sensor located in the robot gripper yields the maximum information content with minimum effort with respect to the constraints. Techniques that yield solutions for placement of a triangulation-type 3-D laser range finder are presented.< >

关键词： Mobile robots Robot sensing systems robotics and automation intelligent sensors Layout Cameras Sensor systems intelligent robots Shape Object recognition

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HMP: a hierarchical multiprocessor computer architecture for multi-sensor based robotic tasks

HMP: a hierarchical multiprocessor computer architecture for...

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IEEE International Symposium on intelligent Control (ISIC)

作者： C.M. Aras R.C. Luo Robotics and Intelligent Systems Laboratory Department of Eleceical and Computer Engineering North Carolina State University Raleigh NC USA

A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined information structure. Queuing network analysis indicates that this hierarchical multiprocessor computer architecture, at least for the sets of loads defined, performs better than currently proposed systems based on single buses. All classes of data, except for large video data that have longer interarrival times, are transferred within 10 milliseconds, and most data are transferred at rates that are very close to their theoretical maximum speed. The gates, used for partitioning the buses, have also been successful; data transfers among processors inside the segment isolated by the gate have been speeded up while the transfer between clusters has either stayed the same or has been reduced slightly, compared to a system without gates.< >

关键词： computer architecture Robot sensing systems intelligent robots Delay Power engineering computing Real time systems Topology Sensor fusion intelligent systems Data engineering

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