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Workshop on Interpretation of 3D Scenes

作者： S.D. Cochran G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a stereo vision system in which they attempt to achieve robustness with respect to scene characteristics, from textured outdoor scenes to environments composed of highly regular man-made objects. The system offers the advantages of both area-based (dense map) and feature-based (accurate disparity) processing by combining them whenever possible. The authors are able to geneate a disparity map that is sufficiently accurate to allow them to detect depth and surface orientation discontinuities, provided that the resolution is fine enough. They use an area-based cross-correlation, along with an ordering constraint and a weak surface smoothness assumption to produce an initial disparity map. Unlike other approaches, however, a match is accepted only if both views agree on a correlation peak and this peak is strong enough. This disparity map is a blurred version of the true one, however, because of the smoothing inherent in the correlation. The problem is most acute at C/sub 0/ (depth) and C/sub 1/ (crease) discontinuities but can be mitigated by introducing the edge information: the disparity map is adaptively smoothed subject to the constraint that the disparity at edges is fixed.< >

关键词： Interpolation Layout Dynamic programming Surface texture Noise generators Electric breakdown Image analysis computer vision Computational modeling Stereo vision

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Issues in geometric reasoning from range imagery

Issues in geometric reasoning from range imagery

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IEEE International Conference on systems, Man and Cybernetics

作者： G. Medioni P. Saint-Marc Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors discuss some of the issues that have to be tackled in order to perform geometric reasoning from range imagery. They begin by pointing out that a successful system must deal with real-world data, and therefore take into account the effects of noise and quantization. They suggest that adaptive smoothing may prove to be a helpful tool for such a task. The next stage of processing involves a symbolic representation of the original data. The authors spell out criteria for shape description, discuss current representation schemes and point out their limitations, and then propose some ideas for overcoming such limitations, illustrated on real examples. Finally, they look at the issues in recognition, and more specifically the matching part, with reference to different methodologies, tree search and constraint satisfaction network.< >

关键词： Smoothing methods Shape intelligent robots Noise shaping Quantization Object recognition intelligent systems Image recognition Image sensors Navigation

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Adaptive smoothing: a general tool for early vision

Adaptive smoothing: a general tool for early vision

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： P. Saint-Marc J.S. Chen G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a method to smooth a signal-whether it is an intensity image, a range image, or a contour-which preserves discontinuities and thus facilitates their detection. This is achieved by repeatedly convolving the signal with a very small averaging filter modulated by a measure of the signal discontinuity at each point. This process is related to the anisotropic diffusion reported by P. Perona and J. Malik (1987) but it has a much simpler formulation and is not subject to instability or divergence. Real examples show how this approach can be applied to the smoothing of various types of signals. The detected features do not move, and thus no tracking is needed. The last property makes it possible to derive a novel scale-space representation of a signal using a small number of scales. Finally, this process is easily implemented on parallel architectures: the running time on a 16 K connection machine is three orders of magnitude faster than on a serial machine.< >

关键词： Smoothing methods Filters intelligent robots computer vision intelligent systems Anisotropic magnetoresistance Image edge detection Signal processing Wave functions Laplace equations

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A modifed optical flow approach for robotic tracking and acquisition

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Journal of Robotic systems 1989年第5期6卷 489-508页

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh North Carolina 27695 United States

A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics and intelligent systems laboratory at NCSU is used as an integral part of the entire tracking and acquisition system. The eye‐in‐hand system is employed to characterize the object trajectory in real time via a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that is extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the experimental results is presented. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company

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Prototyping conceptual models of real-time systems: a visual perspective

Prototyping conceptual models of real-time systems: a visual...

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Annual Hawaii International Conference on System Sciences (HICSS)

作者： J.P. Diaz-Gonzalez J.E. Urban Computer and Intelligent Systems Laboratory GTE Laboratories Inc. Waltham MA USA Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

It is suggested that the disparity between the knowledge and background of the individuals who develop software and those who use the developed software should be filled during the requirements engineering process through the use of appropriate techniques and software tools that incorporate a conceptual model of the area of application. The authors describe an experimental requirements engineering environment that has been created to support the rapid prototyping of real-time systems and provides tools for the description of the objects that participate in the conceptual model of a real-time application. Objects have visual representations that resemble their appearance in real life. Animation capabilities support the validation of system behavior by end-users through an interactive, direct-manipulation simulator.< >

关键词： Prototypes Real time systems Design engineering Application software Laboratories Communication system control Control systems intelligent systems Software engineering Software tools

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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ROBOT_S: An interactive robot simulation language

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robotics and Autonomous systems 1988年第3期4卷 245-256页

作者： O'Neill, S.R. Jamshidi, M. CAD Laboratory for Systems and Robotics Dept. of Electrical and Computer Engineering University of New Mexico AlbuquerqueNew Mexico87131 United States

While it may not be practical to realize a tentative robot design as an actual robot, there is no question of the practicality of a simulation, ROBOT_S is a program in which the foundation for a comprehensive simulation environment is laid. A graphical robot is created to which physical attributes may be assigned, and whose movement may be dictated by a user-installed dynamic model and control law. A simple robot command language has been developed, by which the manipulator may be commanded to move, during which simulation data of state variables is collected and graphed. © 1988

关键词： computer simulation languages

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The role of multisensory integration and fusion in the operation of mobile robots

The role of multisensory integration and fusion in the opera...

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1988 IEEE International Workshop on intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

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

The use of multisensor integration and fusion enables a multisensor-based mobile robot to operate in uncertain or unknown dynamic environments. After first distinguishing between multisensor integration and the more restricted notion of multisensor fusion, the role of multisensor integration and fusion in the operation a mobile robot is described with reference to the type of information that the integrated multiple sensors can uniquely provide the robot. A hypothetical mobile robot architecture is used to illustrate the generic functions necessary for intelligent autonomous mobility. A variety of proposed high-level representations for multisensory information are presented, along with a discussion of different sensor combinations that have been used in mobile robots. The paper concludes with short descriptions of a selection of different mobile robots to illustrate the role of multisensor integration and fusion in their operation. © 1988 by the Institute of electrical and Electronics Engineers, Inc. (IEEE).

关键词： Mobile robots

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Visually guided robotic system for flexible manufacturing automation

Visually guided robotic system for flexible manufacturing au...

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1988 International Conference on Industrial Electronics: robotics and Vision, IECON 1988

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

A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is presented. This system can, in many instances, fulfill the same function as the human worker at a faster rate, with higher accuracy/repeatability, and at a reduced cost. The overall system is comprised of two major subsystems: the use of computer vision for object tracking and object identification/manipulation. These subsystems can be described as follows: an optimal tracking subsystem that can visually track and intercept an arbitrary object which is travelling at an unknown velocity on a moving conveyor and the development of a robust visual bar code scanning scheme which can accommodate arbitrary bar code orientations. Thus, the system will provide for the realization of autonomous identification and inspection of arbitrary objects travelling on a conveyor. A Unimate PUMA 560 robot with integrated sensors and a MicroVax II host computer have been employed to evaluate the performance of the presented techniques. The overall system configuration, its basic principles, and a demonstration of the initial results are discussed. © 1988 IEEE.

关键词： intelligent robots

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