作者：
A. KoschanSunHo LeeM.A. AbidiImaging
Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee USA
A new method is presented for the localization and recognition of three-dimensional objects using color information. In the first processing step, we estimate depth information by either applying a chromatic block mat...
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A new method is presented for the localization and recognition of three-dimensional objects using color information. In the first processing step, we estimate depth information by either applying a chromatic block matching method to color stereo images or acquiring a range image from a laser scanner. Second, the computed depth maps are segmented to distinguish between the image background and the objects that should be recognized. Assuming that the segmented regions represent single objects in the three-dimensional scene, feature vectors are generated based on color histograms. The Euclidean distance is used as well as the scalar product to measure the similarity between the feature vectors computed from the color image and the feature vectors stored in a database.
This paper presents a system model and specification language for network resource management in dynamic, distributed real-time systems. The model is used to define techniques for QoS (quality-of-service) monitoring, ...
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We are adopting Brooks and Wiley's view of evolution as an irreversible process capable of producing increasingly greater complexity at higher organizational levels. We start from the assumption that the evolution...
We are adopting Brooks and Wiley's view of evolution as an irreversible process capable of producing increasingly greater complexity at higher organizational levels. We start from the assumption that the evolutionary force is intrinsic in the living system, and is in reality a continuous senescence function leading gradually and unavoidably to death. We are therefore seeking a senescence function that favors social rather than solitary agents in terms of longevity, without prespecifying in detail the agent's life span. We show that a senescence function relyling on negative (destructive) feedback links from metabolism to genetic program conforms with these specifications. We also show that senescence should affect all the regulation parameters of the agent, and that the system remains nonmanipulable and unpredictable as far as its life span is concerned. This senescence function favors the more “cognitive” agent models (the ones having additional regulation loops), and thus the emergence of organizations of a higher order that have more elaborate social relations.
To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be us...
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To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or deduce implicit information concerning the context of their interaction. Using a vision- and sonar-based Pioneer I robot equipped with a colored-light signaling device, experimental results demonstrate how the robot. can interact with a human interlocutor in a ball-passing game.
This paper describes a new sonar system that can perform target localisation in two dimensions and classification into planes, concave corners and convex edges with no extra time overhead, that is, the sensor transmit...
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This paper describes a new sonar system that can perform target localisation in two dimensions and classification into planes, concave corners and convex edges with no extra time overhead, that is, the sensor transmits on two transmitters a short time apart, thereby collecting echoes in virtually the same time as a single transmitter of the system. Moreover, the time separation of the transmitted pulses acts to identify the particular sonar system so that interference from other systems can be rejected. The sensor combines two previous sonar research efforts on double pulse coding and classification in a real time DSP-based sensing module that is also smaller than previous sensors. Since the classification is performed with such a short delay between transmitter firings, the sensor can be deployed on moving platforms to achieve on-the-fly mapping. This paper describes the sonar hardware, maximum likelihood estimation classification approach and experimental results.
Autonomy is a very complex concept. This discussion develops a definition for one dimension of autonomy: decision-making control. The development of this definition draws salient features from previous work. Each stag...
ISBN:
(纸本)3540424229
Autonomy is a very complex concept. This discussion develops a definition for one dimension of autonomy: decision-making control. The development of this definition draws salient features from previous work. Each stage in the development of this definition is highlighted by bold text.
To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the i...
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To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.
Automatic recognition of frog vocalization is considered a valuable tool for a variety of biological research and environmental monitoring applications. In this research an automatic monitoring system, which can recog...
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Automatic recognition of frog vocalization is considered a valuable tool for a variety of biological research and environmental monitoring applications. In this research an automatic monitoring system, which can recognize the vocalizations of four species of frogs and can identify different individuals within the species of interest, is proposed. For the desired monitoring system, species identification is performed first with the proposed filtering and grouping algorithm. Individual identification, which can estimate frog population within the specific species, is performed in the second stage. Digital signal pre-processing, feature extraction, dimensionality reduction, and neural network pattern classification are performed step by step in this stage. Wavelet Packet feature extraction together with two different dimension reduction algorithms are synergistically integrated to produce final feature vectors, which are to be fed into a neural network classifier. The simulation results show the promising future of deploying an array of continuous, on-line environmental monitoring systems based upon nonintrusive analysis of animal calls.
A recent report by the National Research Council (NRC) declares neural networks "hold the most promise for providing powerful learning models". While some researchers have experimented with using neural netw...
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