发布求助
文献互助 智能选刊 最新文献

2013 IEEE Workshop on Robot Vision (WORV)最新文献

筛选
英文 中文
Spatial structure analysis for autonomous robotic vision systems 自主机器人视觉系统的空间结构分析
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521933
Kai Zhou, K. Varadarajan, M. Zillich, M. Vincze
{"title":"Spatial structure analysis for autonomous robotic vision systems","authors":"Kai Zhou, K. Varadarajan, M. Zillich, M. Vincze","doi":"10.1109/WORV.2013.6521933","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521933","url":null,"abstract":"Analysis of spatial structures in robotic environments, especially structures such as planar surfaces, has become a fundamental component in diverse robot vision systems since the introduction of low-cost RGB-D cameras that have been widely mounted on various indoor robots. These cameras are capable of providing high quality 3D reconstruction in real time. In order to estimate multiple planar structures without prior knowledge, this paper utilizes Jensen-Shannon Divergence (JSD), which is a similarity measurement method, to represent pairwise relationship between data. This conceptual representation encompasses the pairwise geometrical relations between data as well as the information about whether pairwise relationships exist in a model's inlier data set or not. Tests on datasets comprised of noisy inliers and a large percentage of outliers demonstrate that the proposed solution can efficiently estimate multiple models without prior information. Superior performance in terms of synthetic experiments and pragmatic tests with robot vision system also demonstrate the validity of the proposed approach.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133910992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Efficient 7D aerial pose estimation 高效的7D空中姿态估计
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521919
B. Grelsson, M. Felsberg, Folke Isaksson
{"title":"Efficient 7D aerial pose estimation","authors":"B. Grelsson, M. Felsberg, Folke Isaksson","doi":"10.1109/WORV.2013.6521919","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521919","url":null,"abstract":"A method for online global pose estimation of aerial images by alignment with a georeferenced 3D model is presented. Motion stereo is used to reconstruct a dense local height patch from an image pair. The global pose is inferred from the 3D transform between the local height patch and the model. For efficiency, the sought 3D similarity transform is found by least-squares minimizations of three 2D subproblems. The method does not require any landmarks or reference points in the 3D model, but an approximate initialization of the global pose, in our case provided by onboard navigation sensors, is assumed. Real aerial images from helicopter and aircraft flights are used to evaluate the method. The results show that the accuracy of the position and orientation estimates is significantly improved compared to the initialization and our method is more robust than competing methods on similar datasets. The proposed matching error computed between the transformed patch and the map clearly indicates whether a reliable pose estimate has been obtained.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122370063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Autonomous robot exploration and cognitive map building in unknown environments using omnidirectional visual information only 基于全向视觉信息的未知环境下自主机器人探索与认知地图构建
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521937
Romain Marie, O. Labbani-Igbida, Pauline Merveilleux, E. Mouaddib
{"title":"Autonomous robot exploration and cognitive map building in unknown environments using omnidirectional visual information only","authors":"Romain Marie, O. Labbani-Igbida, Pauline Merveilleux, E. Mouaddib","doi":"10.1109/WORV.2013.6521937","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521937","url":null,"abstract":"This paper addresses the issues of autonomous exploration and topological mapping using monocular catadioptric vision in fully unknown environments. We propose an incremental process that allows the robot to extract and combine multiple spatial representations built upon its visual information only: free space detection, local space topology extraction, place signatures construction and topological mapping. The efficiency of the proposed system is evaluated in real world experiments. It opens new perspectives for vision-based autonomous exploration, which is still an open problem in robotics.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128986850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Fast iterative five point relative pose estimation 快速迭代五点相对位姿估计
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521915
J. Hedborg, M. Felsberg
{"title":"Fast iterative five point relative pose estimation","authors":"J. Hedborg, M. Felsberg","doi":"10.1109/WORV.2013.6521915","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521915","url":null,"abstract":"Robust estimation of the relative pose between two cameras is a fundamental part of Structure and Motion methods. For calibrated cameras, the five point method together with a robust estimator such as RANSAC gives the best result in most cases. The current state-of-the-art method for solving the relative pose problem from five points is due to Nistér [9], because it is faster than other methods and in the RANSAC scheme one can improve precision by increasing the number of iterations. In this paper, we propose a new iterative method, which is based on Powell's Dog Leg algorithm. The new method has the same precision and is approximately twice as fast as Nister's algorithm. The proposed method is easily extended to more than five points while retaining a efficient error metrics. This makes it also very suitable as an refinement step. The proposed algorithm is systematically evaluated on three types of datasets with known ground truth.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"354 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115925799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Subspace and motion segmentation via local subspace estimation 基于局部子空间估计的子空间和运动分割
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521909
A. Sekmen, A. Aldroubi
{"title":"Subspace and motion segmentation via local subspace estimation","authors":"A. Sekmen, A. Aldroubi","doi":"10.1109/WORV.2013.6521909","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521909","url":null,"abstract":"Subspace segmentation and clustering of high dimensional data drawn from a union of subspaces are important with practical robot vision applications, such as smart airborne video surveillance. This paper presents a clustering algorithm for high dimensional data that comes from a union of lower dimensional subspaces of equal and known dimensions. Rigid motion segmentation is a special case of this more general subspace segmentation problem. The algorithm matches a local subspace for each trajectory vector and estimates the relationships between trajectories. It is reliable in the presence of noise, and it has been experimentally verified by the Hopkins 155 Dataset.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132373638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Quasi-perspective stereo-motion for 3D reconstruction 用于三维重建的准透视立体运动
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521944
Mu Fang, R. Chung
{"title":"Quasi-perspective stereo-motion for 3D reconstruction","authors":"Mu Fang, R. Chung","doi":"10.1109/WORV.2013.6521944","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521944","url":null,"abstract":"One important motivation of integrating stereo vision and visual motion into the so-called stereo-motion cue is to make the two original vision cues complementary, in the sense that (i) the ease of establishing motion correspondences and (ii) the accuracy of 3D reconstruction under stereo vision can be put together for bypassing or overcoming (i) the generally difficult stereo correspondence problem and (ii) the limited reconstruction accuracy of the motion cue. The objective is to allow a relatively short stereo pair of videos to be adequate for recovering accurate 3D information. A previous work has addressed the issue, which lets the easily acquirable motion correspondences be used to infer the stereo correspondences. Yet the inference mechanism requires to assume the affine projection model of the cameras. This work further extends from the affine camera assumption to quasi-perspective projection models of cameras. A novel stereo-motion model under quasi-perspective projection is proposed, and a simple and fast 3D reconstruction algorithm is given. Only a small number of stereo correspondences are required for reconstruction. Experimental results on real image data are shown to demonstrate the effectiveness of the mechanism.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126135947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Visual servo control of electromagnetic actuation for a family of microrobot devices 一类微型机器人装置电磁驱动的视觉伺服控制
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521940
J. Piepmeier, S. Firebaugh
{"title":"Visual servo control of electromagnetic actuation for a family of microrobot devices","authors":"J. Piepmeier, S. Firebaugh","doi":"10.1109/WORV.2013.6521940","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521940","url":null,"abstract":"Microrobots have a number of potential applications for micromanipulation and assembly, but also offer challenges in power and control. This paper describes the control system for magnetically actuated microrobots operating at the interface between two immiscible fluids. The microrobots are 20 μm thick and approximately 100-200 μm in lateral dimension. Several different robot shapes are investigated. The robots and fluid are in a 20 × 20 mm vial placed at the center of four electromagnets Pulse width modulation of the electromagnet currents is used to control robot speed and direction, and a linear relationship between robot speed and duty cycle was observed, although the slope of that dependence varied with robot type and magnet. A proportional controller has been implemented and characterized. The steady-state error with this controller ranged from 6.4 to 12.8 pixels, or 90-180 μm.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133476006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Automated tuning of the nonlinear complementary filter for an Attitude Heading Reference observer 姿态航向参考观测器非线性互补滤波器的自动调谐
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521934
O. de Silva, G. Mann, R. Gosine
{"title":"Automated tuning of the nonlinear complementary filter for an Attitude Heading Reference observer","authors":"O. de Silva, G. Mann, R. Gosine","doi":"10.1109/WORV.2013.6521934","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521934","url":null,"abstract":"In this paper we detail a numerical optimization method for automated tuning of a nonlinear filter used in Attitude Heading Reference Systems (AHRS). First, the Levenberg Marquardt method is used for nonlinear parameter estimation of the observer model. Two approaches are described; Extended Kalman Filter (EKF) based supervised implementation and unsupervised error minimization based implementation. The quaternion formulation is used in the development in order to have a global minimum parametrization in the rotation group. These two methods are then compared using both simulated and experimental data taken from a commercial Inertial Measurement Unit (IMU) used in an autopilot system of an unmanned aerial vehicle. The results reveal that the proposed EKF based supervised implementation is faster and also has a better robustness against different initial conditions.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115304906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Rapid explorative direct inverse kinematics learning of relevant locations for active vision 主动视觉相关位置的快速探索性直接逆运动学学习
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521932
Kristoffer Öfjäll, M. Felsberg
{"title":"Rapid explorative direct inverse kinematics learning of relevant locations for active vision","authors":"Kristoffer Öfjäll, M. Felsberg","doi":"10.1109/WORV.2013.6521932","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521932","url":null,"abstract":"An online method for rapidly learning the inverse kinematics of a redundant robotic arm is presented addressing the special requirements of active vision for visual inspection tasks. The system is initialized with a model covering a small area around the starting position, which is then incrementally extended by exploration. The number of motions during this process is minimized by only exploring configurations required for successful completion of the task at hand. The explored area is automatically extended online and on demand. To achieve this, state of the art methods for learning and numerical optimization are combined in a tight implementation where parts of the learned model, the Jacobians, are used during optimization, resulting in significant synergy effects. In a series of standard experiments, we show that the integrated method performs better than using both methods sequentially.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"19 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120914627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A compositional approach for 3D arm-hand action recognition 三维手臂动作识别的合成方法
2013 IEEE Workshop on Robot Vision (WORV) Pub Date : 2013-05-30 DOI: 10.1109/WORV.2013.6521926
I. Gori, S. Fanello, F. Odone, G. Metta
{"title":"A compositional approach for 3D arm-hand action recognition","authors":"I. Gori, S. Fanello, F. Odone, G. Metta","doi":"10.1109/WORV.2013.6521926","DOIUrl":"https://doi.org/10.1109/WORV.2013.6521926","url":null,"abstract":"In this paper we propose a fast and reliable vision-based framework for 3D arm-hand action modelling, learning and recognition in human-robot interaction scenarios. The architecture consists of a compositional model that divides the arm-hand action recognition problem into three levels. The bottom level is based on a simple but sufficiently accurate algorithm for the computation of the scene flow. The middle level serves to classify action primitives through descriptors obtained from 3D Histogram of Flow (3D-HOF); we further apply a sparse coding (SC) algorithm to deal with noise. Action Primitives are then modelled and classified by linear Support Vector Machines (SVMs), and we propose an on-line algorithm to cope with the real-time recognition of primitive sequences. The top level system synthesises combinations of primitives by means of a syntactic approach. In summary the main contribution of the paper is an incremental method for 3D arm-hand behaviour modelling and recognition, fully implemented and tested on the iCub robot, allowing it to learn new actions after a single demonstration.","PeriodicalId":130461,"journal":{"name":"2013 IEEE Workshop on Robot Vision (WORV)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128324134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信