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检索条件"机构=The Computer Vision And Robotics Research Laboratory"

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Active exploration using contact and noncontact sensors: An integrated system

Active exploration using contact and noncontact sensors: An ...

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gadagkar, H.P. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with describing and discussing our approach towards the development of a multi-sen,sory closed-loop active robotic exploration system for workspace characterization. The exploration system involves acquisition, processing, and integration of sensory inputs acquired from uision, poin,t laser range, tactile, and force/torque sensors. The exploration process results in building three-dimensional Half-space models of various polyhedral (convex and concave) objects encountered in the workspace. Subsequent to the process of building object models using active exploration mechanisms, the object models allow extraction of essential geometric information required for performing tasks such as object identification, grasping, and man ipiila t io n. Th e experim en tal resuh showtli at vurious geometrical descriptors that are required for model building, can be extracted quite reliably using the sensor specific exploratory mechanisms. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Geometry

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Multi-primitive hierarchical (MPH) stereo system

Multi-primitive hierarchical (MPH) stereo system

引用

1992 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 1992

作者： Marapane, S.B. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0818628553

A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system. © 1992 IEEE.

关键词： Hierarchical systems

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

引用

13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

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A binary tree for probability learning in eye detection

A binary tree for probability learning in eye detection

引用

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

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San DiegoCA92037 United States

ISBN: (纸本)0769526608

In this paper we proposed to solve the eye detection and localization problem under a general statistical model based object detection framework. A binary tree representation is used to discover the objects' underlying statistical structure. Tree structures enable us to describe the object local statistical structure in a coarse-to-fine fashion. Each subtree explains the statistics for certain local *** tree is built in a top-down fashion. Subsets with negligible conditional independency are found by k-means clustering using mutual information. The conditionally independent features are separated into different subtrees, while more dependent features are tended to appear close in the tree. The distribution of the object can be learned accordingly. Gaussian mixture in the independent component analysis (ICA) subspace is used to model the distribution of each high dependent feature subset, where each independent component explains the local substructure. The use of tree structure enables us to learn the distribution recursively by applying Bayesian criterion. Substantial experiments were done to evaluate the performance over the eyes detection accuracy as well as the localization ability. Experimental results show a better detection accuracy than the Viisage system with a reasonable localization ability, which validate the algorithm. © 2005 IEEE computer Society. All rights reserved.

关键词： Object detection

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Architecture and Automatic Task Planning for Integrated Sensor-based Robots

Architecture and Automatic Task Planning for Integrated Sens...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Chen, C. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent robots should possess three important capabilities: (1) planning, i.e., given a goal, the ability to generate a set of task plans which will lead to achieving the goal, (2) coordination and execution of the perceptual actions, i.e., the abilities to coordinate sensors, acquire sensory data, and process, interpret and transform the sensory information, and (3) coordination and execution of the motor actions, i.e., the ability to navigate in their environments and the ability to coordinate effectors and tools and manipulate objects to accomplish assigned tasks. In this paper we introduce a System Architecture for Sensor-based Intelligent Robots, (SASIR), constructed using a frame data structure, which provides a suitable and flexible scheme for representation and manipulation of the world model, the sensor derived information, as well as for describing the actions reqnired for the execution of a specific task. © 1992 IEEE.

关键词： Intelligent robots

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Panoramic Appearance Map (PAM) for multi-camera based person re-identification

Panoramic Appearance Map (PAM) for multi-camera based person...

引用

IEEE International Conference on Video and Signal Based Surveillance 2006, AVSS 2006

作者： Gandhi, Tarak Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA 92093 United States

ISBN: (纸本)0769526888

This paper proposes a concept of panoramic appearance map to perform reidentification of a people who leave the scene and reappear after some time. The map is a compact signature of appearance information of a person extracted from multiple cameras. The person is detected and tracked in multiple cameras and triangulation is used to accurately localize the person in 3-D. A virtual cylinder is formed around the person's location and mapped onto an image with the horizontal axis representing the azimuth angle and vertical axis representing the height. Each bin in the map image gets the appearance information from all the cameras which can observe it. The maps between different tracks are matched using a weighted metric. Experimental results showing person matching and reidentification show the effectiveness of the approach. © 2006 IEEE.

关键词： Pattern recognition

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An integrated two-stage framework for robust head pose estimation

An integrated two-stage framework for robust head pose estim...

引用

2nd International Workshop on Analysis and Modelling of Faces and Gestures, AMFG 2005

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA 92093 United States

ISBN: (纸本)3540292292

Subspace analysis has been widely used for head pose estimation. However, such techniques are usually sensitive to data alignment and background noise. In this paper a two-stage approach is proposed to address this issue by combining the subspace analysis together with the topography method. The first stage is based on the subspace analysis of Gabor wavelets responses. Different subspace techniques were compared for better exploring the underlying data structure. Nearest prototype matching using Euclidean distance was used to get the pose estimate. The single pose estimated was relaxed to a subset of poses around it to incorporate certain tolerance to data alignment and background noise. In the second stage, the uncertainty is eliminated by analyzing finer geometrical structure details captured by bunch graphs. This coarse-to-fine framework was evaluated with a large data set. We examined 86 poses, with the pan angle spanning from -90° to 90° and the tilt angle spanning from -60° to 45°. The experimental results indicate that the integrated approach has a remarkably better performance than using subspace analysis alone. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Face recognition

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Vehicle mounted wide fov stereo for traffic and pedestrian detection

Vehicle mounted wide fov stereo for traffic and pedestrian d...

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IEEE International Conference on Image Processing 2005, ICIP 2005

作者： Gandhi, Tarak Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA 92093 United States

ISBN: (纸本)0780391349

This paper describes an approach for detecting objects in front of an automobile using wide field of view stereo with a pair of omni cameras. Several configurations are suggested for effective detection of vehicles and pedestrians. The omni cameras are calibrated using sets of parallel lines on a parking lot. The calibration is used to rectify the omni images. Stereo matching is performed on the rectified images to detect other vehicles and pedestrians. Experimental results show promise of detecting these objects on the road. © 2005 IEEE.

关键词： Image processing

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Robust facial landmark detection for intelligent vehicle system

Robust facial landmark detection for intelligent vehicle sys...

引用

2nd International Workshop on Analysis and Modelling of Faces and Gestures, AMFG 2005

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA 92093 United States

ISBN: (纸本)3540292292

This paper presents an integrated approach for robustly locating facial landmark for drivers. In the first step a cascade of probability learners is used to detect the face edge primitives from fine to coarse, so that faces with variant head poses can be located. The edge density descriptors and skin-tone color features are combined together as the basic features to examine the probability of an edge being a face primitive. A cascade of the probability learner is used. In each scale, only edges with sufficient large probabilities are kept and passed on to the next scale. The final output of the cascade gives the edge primitives that belong to faces, which determine the face location. In the second step, a facial landmark detection procedure is applied on the segmented face pixels. Facial landmark candidates are first detected by learning the posteriors in multiple resolutions. Then geometric constraint and the local appearance, modeled by SIFT descriptor, are used to find the set of facial landmarks with largest matching score. Experiments over high-resolution images (FERET database) as well as the real-world drivers' data are used to evaluate the performance. A fairly good results can be obtained, which validates the proposed approach. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Face recognition

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Head pose tracking for immersive applications

Head pose tracking for immersive applications

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作者： Henriquez, Pedro Higuera, Oscar Matuszewski, Bogdan J. Robotics and Computer Vision Research Laboratory School of Computing Engineering and Physical Sciences University of Central Lancashire United Kingdom

ISBN: (纸本)9781479957514

The paper describes a 3D head pose tracking system designed for immersive applications. The proposed system is based on a random forest's head detection and pose regression model. The main novel contributions include the application, in immersive technologies, of a head tracker using a range data sensor, the Kalman filter and the random forest, with automatic detection of outliers and handling of the missing data. The envisaged applications of the proposed system include data normalization and data acquisition from remote locations in real-time. The latter is described in detail by integrating 3 degrees of freedom robotic camera head with the proposed head tracker. In this instance the proposed non-contact head tracking system is used to control the robotic camera by replicating measured operator's head motion to improve his/her spatial awareness and sense of immersion, with the captured video shown on a head mounted display. The experimental section includes accuracy and robustness analysis. The system's robustness is examined with respect to the head pose outliers and the missing head detections. The effects of the presence of the head mounted displays on the performance of the system is also assessed. Additionally a brief discussion of operators' psychophysical perception test is also included. © 2014 IEEE.

关键词： Kalman filters

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