An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduce...
详细信息
An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduces the computation time and storage requirements is developed. The approach makes use of the relative geometric differences between particular points on the object surface and some virtual points which are prespecified arbitrarily and by task. The method has several advantages, such as a simple knowledge base with less storage requirement, flexibility of the database design according to the tasks to be performed, and the capability of compensating for the uncertainties of position estimation due to noise and quantization error. However, the algorithm may not be suitable for a purely planar object.< >
A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems is defined in terms of the unique type ...
详细信息
A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems 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.< >
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...
详细信息
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.< >
Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed i...
详细信息
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable&q...
详细信息
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine sy...
详细信息
An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >
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 ro...
详细信息
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.< >
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-fra...
ISBN:
(纸本)9780897914123
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-frame images and live animations that in observing the viewing independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing *** we introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, we are able to link the spatial and temporal dimensions in a fundamental and consistent way in our simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of *** exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images. It reveals a richly detailed physical reality which the mathematical language of thought experiment in relatively does not directly provide.
暂无评论